書誌事項
- タイトル別名
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- Method for Bandwidth Compression and Transmission of Environmental Information in Bilateral Teleoperation
- バイラテラル エンカク ソウサ ニ オケル カンキョウ ジョウホウ ノ タイイキ アッシュク デンソウ ホウシキ
この論文をさがす
抄録
In this paper, a novel method for bandwidth compression and transmission of environmental information is proposed for bilateral teleoperation systems with multiple degrees of freedom (MDOF). In this method, environmental information, i.e., the position of end-effectors and the reaction force exerted on them, is converted into environmental modes by using discrete Fourier transform (DFT) matrices. The environmental modes to be transmitted are then selected on the basis of the communication bandwidth between master and slave robots. Bilateral control is achieved in low-frequency modal spaces, and local position control is achieved in high-frequency modal spaces. The validity of the proposed method is confirmed by performing an experiment.
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) 129 (3), 319-324, 2009
一般社団法人 電気学会
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キーワード
詳細情報 詳細情報について
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- CRID
- 1390282679634453248
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- NII論文ID
- 10024775940
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- NII書誌ID
- AN10012320
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- BIBCODE
- 2009IJTIA.129..319K
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 10182741
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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
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- 抄録ライセンスフラグ
- 使用不可