Gravity Compensation for Improvement of Operationarity in Bilateral Teleoperation
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- Takei Takayoshi
- Department of System Design Engineering, Keio University
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- Shimono Tomoyuki
- Department of System Design Engineering, Keio University
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- Kubo Ryogo
- Department of System Design Engineering, Keio University
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- Nishi Hiroaki
- Department of System Design Engineering, Keio University
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- Ohnishi Kouhei
- Department of System Design Engineering, Keio University
Bibliographic Information
- Other Title
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- バイラテラル遠隔操作における操作性向上のための重力補償
- 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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Abstract
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.
Journal
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- IEEJ Transactions on Industry Applications
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IEEJ Transactions on Industry Applications 128 (6), 767-774, 2008
The Institute of Electrical Engineers of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390282679635661568
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- NII Article ID
- 10021134523
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- NII Book ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL BIB ID
- 9532534
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed