Analysis and design of master-slave teleoperation systems マスタ・スレーブ型遠隔操縦システムの解析と設計

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著者

    • 横小路, 泰義 ヨココウジ, ヤスヨシ

書誌事項

タイトル

Analysis and design of master-slave teleoperation systems

タイトル別名

マスタ・スレーブ型遠隔操縦システムの解析と設計

著者名

横小路, 泰義

著者別名

ヨココウジ, ヤスヨシ

学位授与大学

京都大学

取得学位

工学博士

学位授与番号

乙第7628号

学位授与年月日

1991-09-24

注記・抄録

博士論文

目次

  1. 論文目録 / (0001.jp2)
  2. Abstract / (0005.jp2)
  3. Contents / p5 (0007.jp2)
  4. 1 INTRODUCTION / p1 (0011.jp2)
  5. 1.1 Teleoperation and Robotics / p1 (0011.jp2)
  6. 1.2 Background of Teleoperation / p4 (0013.jp2)
  7. 1.3 Background of Robotics:―Field of Manipulator Control― / p10 (0016.jp2)
  8. 1.4 The Goal of this Paper and the Composition of Chapters / p15 (0018.jp2)
  9. 2 MANEUVERABILITY OF MASTER-SLAVE TELEOPERATION SYSTEMS / p19 (0020.jp2)
  10. 2.1 Introduction / p19 (0020.jp2)
  11. 2.2 Modeling in One DOF System / p20 (0021.jp2)
  12. 2.3 Ideal Responses of Master-Slave Systems / p26 (0024.jp2)
  13. 2.4 Evaluation of Maneuverability / p31 (0026.jp2)
  14. 2.5 Evaluation of Stability / p36 (0029.jp2)
  15. 2.6 Conclusion / p38 (0030.jp2)
  16. 3 BILATERAL CONTROL OF MASTER-SLAVE MANIPULATORS FOR IDEAL KINESTHETIC COUPLING / p41 (0031.jp2)
  17. 3.1 Introduction / p41 (0031.jp2)
  18. 3.2 Design of Control Schemes Realizing the Ideal Responses / p42 (0032.jp2)
  19. 3.3 Discussion about Stability / p51 (0036.jp2)
  20. 3.4 Simulation / p52 (0037.jp2)
  21. 3.5 Conclusion / p53 (0037.jp2)
  22. 4 DESIGN GUIDE OF MASTER ARMS CONSIDERING OPERATOR DYNAMICS / p57 (0039.jp2)
  23. 4.1 Introduction / p57 (0039.jp2)
  24. 4.2 Dynamic Manipulability / p58 (0040.jp2)
  25. 4.3 Manipulability of Master Arms for Human Operator / p60 (0041.jp2)
  26. 4.4 Evaluation of Directional Property of Manipulability / p67 (0044.jp2)
  27. 4.5 Conclusion / p69 (0045.jp2)
  28. Appendix / p79 (0050.jp2)
  29. 5 CONTROL OF MULTIPLE DOF MASTER-SLAVE MANIPULATORS / p85 (0053.jp2)
  30. 5.1 Introduction / p85 (0053.jp2)
  31. 5.2 Definition of Ideal Responses / p86 (0054.jp2)
  32. 5.3 Control of Different Configuration Arms / p87 (0054.jp2)
  33. 5.4 Control of Isomorphic Configuration Arms / p93 (0057.jp2)
  34. 5.5 Simulation / p99 (0060.jp2)
  35. 5.6 Design Guide of Master-Slave Arms / p102 (0062.jp2)
  36. 5.7 Conclusion / p110 (0066.jp2)
  37. 6 EXPERIMENTAL RESULTS BY A MASTER-SLAVE SYSTEM / p111 (0066.jp2)
  38. 6.1 Introduction / p111 (0066.jp2)
  39. 6.2 Design of Experimental Arm / p111 (0066.jp2)
  40. 6.3 Experiment / p118 (0070.jp2)
  41. 6.4 Conclusion / p125 (0073.jp2)
  42. 7 UNIFIED COMPUTATION OF KINEMATICS AND DYNAMICS FOR ROBOT MANIPULATORS / p139 (0080.jp2)
  43. 7.1 Introduction / p139 (0080.jp2)
  44. 7.2 Nomenclature / p141 (0081.jp2)
  45. 7.3 Necessary Computations for Dynamic Control / p145 (0083.jp2)
  46. 7.4 Unified Computation of Kinematics and Dynamics / p148 (0085.jp2)
  47. 7.5 Discussion on the Number of Computations / p159 (0090.jp2)
  48. 7.6 Conclusion / p161 (0091.jp2)
  49. 8 APPLICATION OF A FLOATING-POINT DSP TO REAL TIME COMPUTATION OF MANIPULATOR CONTROL / p165 (0093.jp2)
  50. 8.1 Introduction / p165 (0093.jp2)
  51. 8.2 Utilization of Floating-Point DSP / p166 (0094.jp2)
  52. 8.3 Implementation / p170 (0096.jp2)
  53. 8.4 Conclusion / p173 (0097.jp2)
  54. 9 ON A LINK COORDINATE FRAME ASSIGNMENT FOR SERIAL LINK ROBOT MANIPULATORS / p175 (0098.jp2)
  55. 9.1 Introduction / p175 (0098.jp2)
  56. 9.2 Link Coordinate Frames / p176 (0099.jp2)
  57. 9.3 Evaluation of Computational Efficiency / p178 (0100.jp2)
  58. 9.4 Optimal Link Coordinate Frame / p179 (0100.jp2)
  59. 9.5 Conclusion / p182 (0102.jp2)
  60. 10 CONCLUDING REMARKS / p185 (0103.jp2)
  61. 10.1 Results of this Paper / p185 (0103.jp2)
  62. 10.2 Further Problems / p187 (0104.jp2)
  63. BIBLIOGRAPHY / p191 (0106.jp2)
  64. Published Papers by the Author / p201 (0111.jp2)
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各種コード

  • NII論文ID(NAID)
    500000080721
  • NII著者ID(NRID)
    • 8000000080928
  • DOI(NDL)
  • NDL書誌ID
    • 000000245035
  • データ提供元
    • NDL-OPAC
    • NDLデジタルコレクション
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