Force-Dependent Variable Damping Control for Positioning Task Assist
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- Takesue Naoyuki
- Nagoya Institute of Technology
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- Kikuuwe Ryo
- Nagoya Institute of Technology
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- Sano Akihito
- Nagoya Institute of Technology
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- Mochiyama Hiromi
- Nagoya Institute of Technology
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- Sawada Hideaki
- Aisin Seiki Co., Ltd.
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- Fujimoto Hideo
- Nagoya Institute of Technology
Bibliographic Information
- Other Title
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- 位置決め作業アシストのための操作力依存可変ダンピング制御
- イチギメ サギョウ アシスト ノ タメノ ソウサリョク イソン カヘン ダンピング セイギョ
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Abstract
This paper is concerned about a variable impedance control for human-machine cooperative positioning systems. The prospective profile is found from the dynamic equation and the properties of the operational profiles known as suitable ones. We propose a simple variable impedance control in which the damping coefficient is varied according to the operational force of human based on the above profile. The experiments of positioning tasks are examined and the effectiveness of the proposed method is shown. The properties on conventional methods are compared.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 25 (2), 306-313, 2007
The Robotics Society of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390282679703587584
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- NII Article ID
- 10018869736
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 8747993
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- Text Lang
- ja
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- Data Source
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- JaLC
- IRDB
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed