書誌事項
- タイトル別名
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- Gravity Compensation for Improvement of Operationarity in Bilateral Teleoperation
- バイラテラル エンカク ソウサ ニ オケル ソウサセイ コウジョウ ノ タメノ ジュウリョク ホショウ
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抄録
In this paper, the estimation method of only gravity and the compensation method of only the disturbance caused by gravity are proposed. The proposed method is able to estimate gravity, even when the system has the unknown posture. The proposed method is based on the concept of “environment quarrier”. Then, environment quarry is expanded to multilateral control. In this paper, two dummy robots that are the environment quarrier are implemented besides master-slave system, in order to abstract only gravity disturbance. The proposed method is adaptable, even when mass of master system differs from one of slave system. To verify the viability of the proposed method, experimental results are shown.
収録刊行物
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- 電気学会論文誌D(産業応用部門誌)
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電気学会論文誌D(産業応用部門誌) 128 (6), 767-774, 2008
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390282679635661568
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- NII論文ID
- 10021134523
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- NII書誌ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 9532534
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可