書誌事項
- タイトル別名
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- Hand External Force Estimation Method for 5-Axes Scott-Russell Robot Arm
抄録
<p>It is necessary to adapt the force control to the robot, in order to make robots perform complex tasks as human beings. In force control, the external force is measured by a force sensor attached to the tip of the robot arm. However, there are problems such as cost and labor of installation time. Therefore, the purpose of this study is to construct the method to estimate the force applied to the hand without using the sensor based on the dynamic model. In order to construct the dynamics model, modeling of this robot arm, constructing equation of motion and friction torque identification were performed. After that, an external force estimation experiment was performed and verified the effectiveness of this method was shown.</p>
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2018 (0), 2A1-H13-, 2018
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390845713034500096
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- NII論文ID
- 130007551464
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- ISSN
- 24243124
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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
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可