動作支援用6自由度マニピュレータのインピーダンス制御 : 忘却性を考慮したインピーダンスパラメータのオンライン学習法(機械力学,計測,自動制御) Impedance Control of an Action Support 6-Degree-of-Freedom Manipulator : On-Line Learning Method of Impedance Parameter Considering Forgetfulness(Mechanical Systems)

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This paper proposes a control system for action support manipulators. A 6-dgree-of-freedom manipulator is controlled with an impedance control. Impedance parameters are tuned by on-line learning with a force sensor. The learning rule is convenient and considers forgetfulness on handling. The proposed method is applied to a meal support manipulator as one application example. A weight between position control and force control is used to carry the hand to the mouth surely. Usefulness of this method is verified through experiments.

This paper proposes a control system for action support manipulators. A 6-degree-of-freedom manipulator is controlled with an impedance control. Impedance parameters are tuned by on-line learning with a force sensor. The learning rule is convenient and considers forgetfulness on handling. The proposed method is applied to a meal support manipulator as one application example. A weight between position control and force control is used to carry the hand to the mouth surely. Usefulness of this method is verified through experiments.

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  • 日本機械学会論文集 C編

    日本機械学会論文集 C編 76(772), 3520-3527, 2010

    一般社団法人日本機械学会

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各種コード

  • NII論文ID(NAID)
    110008006863
  • NII書誌ID(NCID)
    AN00187463
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    03875024
  • NDL 記事登録ID
    10939464
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1056
  • データ提供元
    CJP書誌  NDL  NII-ELS  IR  J-STAGE 
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