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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Bibliographic Information
- Title
-
Analysis and design of master-slave teleoperation systems
- Other Title
-
マスタ・スレーブ型遠隔操縦システムの解析と設計
- Author
-
横小路, 泰義
- Author(Another name)
-
ヨココウジ, ヤスヨシ
- University
-
京都大学
- Types of degree
-
工学博士
- Grant ID
-
乙第7628号
- Degree year
-
1991-09-24
Note and Description
博士論文
Table of Contents
- 論文目録 / (0001.jp2)
- Abstract / (0005.jp2)
- Contents / p5 (0007.jp2)
- 1 INTRODUCTION / p1 (0011.jp2)
- 1.1 Teleoperation and Robotics / p1 (0011.jp2)
- 1.2 Background of Teleoperation / p4 (0013.jp2)
- 1.3 Background of Robotics:―Field of Manipulator Control― / p10 (0016.jp2)
- 1.4 The Goal of this Paper and the Composition of Chapters / p15 (0018.jp2)
- 2 MANEUVERABILITY OF MASTER-SLAVE TELEOPERATION SYSTEMS / p19 (0020.jp2)
- 2.1 Introduction / p19 (0020.jp2)
- 2.2 Modeling in One DOF System / p20 (0021.jp2)
- 2.3 Ideal Responses of Master-Slave Systems / p26 (0024.jp2)
- 2.4 Evaluation of Maneuverability / p31 (0026.jp2)
- 2.5 Evaluation of Stability / p36 (0029.jp2)
- 2.6 Conclusion / p38 (0030.jp2)
- 3 BILATERAL CONTROL OF MASTER-SLAVE MANIPULATORS FOR IDEAL KINESTHETIC COUPLING / p41 (0031.jp2)
- 3.1 Introduction / p41 (0031.jp2)
- 3.2 Design of Control Schemes Realizing the Ideal Responses / p42 (0032.jp2)
- 3.3 Discussion about Stability / p51 (0036.jp2)
- 3.4 Simulation / p52 (0037.jp2)
- 3.5 Conclusion / p53 (0037.jp2)
- 4 DESIGN GUIDE OF MASTER ARMS CONSIDERING OPERATOR DYNAMICS / p57 (0039.jp2)
- 4.1 Introduction / p57 (0039.jp2)
- 4.2 Dynamic Manipulability / p58 (0040.jp2)
- 4.3 Manipulability of Master Arms for Human Operator / p60 (0041.jp2)
- 4.4 Evaluation of Directional Property of Manipulability / p67 (0044.jp2)
- 4.5 Conclusion / p69 (0045.jp2)
- Appendix / p79 (0050.jp2)
- 5 CONTROL OF MULTIPLE DOF MASTER-SLAVE MANIPULATORS / p85 (0053.jp2)
- 5.1 Introduction / p85 (0053.jp2)
- 5.2 Definition of Ideal Responses / p86 (0054.jp2)
- 5.3 Control of Different Configuration Arms / p87 (0054.jp2)
- 5.4 Control of Isomorphic Configuration Arms / p93 (0057.jp2)
- 5.5 Simulation / p99 (0060.jp2)
- 5.6 Design Guide of Master-Slave Arms / p102 (0062.jp2)
- 5.7 Conclusion / p110 (0066.jp2)
- 6 EXPERIMENTAL RESULTS BY A MASTER-SLAVE SYSTEM / p111 (0066.jp2)
- 6.1 Introduction / p111 (0066.jp2)
- 6.2 Design of Experimental Arm / p111 (0066.jp2)
- 6.3 Experiment / p118 (0070.jp2)
- 6.4 Conclusion / p125 (0073.jp2)
- 7 UNIFIED COMPUTATION OF KINEMATICS AND DYNAMICS FOR ROBOT MANIPULATORS / p139 (0080.jp2)
- 7.1 Introduction / p139 (0080.jp2)
- 7.2 Nomenclature / p141 (0081.jp2)
- 7.3 Necessary Computations for Dynamic Control / p145 (0083.jp2)
- 7.4 Unified Computation of Kinematics and Dynamics / p148 (0085.jp2)
- 7.5 Discussion on the Number of Computations / p159 (0090.jp2)
- 7.6 Conclusion / p161 (0091.jp2)
- 8 APPLICATION OF A FLOATING-POINT DSP TO REAL TIME COMPUTATION OF MANIPULATOR CONTROL / p165 (0093.jp2)
- 8.1 Introduction / p165 (0093.jp2)
- 8.2 Utilization of Floating-Point DSP / p166 (0094.jp2)
- 8.3 Implementation / p170 (0096.jp2)
- 8.4 Conclusion / p173 (0097.jp2)
- 9 ON A LINK COORDINATE FRAME ASSIGNMENT FOR SERIAL LINK ROBOT MANIPULATORS / p175 (0098.jp2)
- 9.1 Introduction / p175 (0098.jp2)
- 9.2 Link Coordinate Frames / p176 (0099.jp2)
- 9.3 Evaluation of Computational Efficiency / p178 (0100.jp2)
- 9.4 Optimal Link Coordinate Frame / p179 (0100.jp2)
- 9.5 Conclusion / p182 (0102.jp2)
- 10 CONCLUDING REMARKS / p185 (0103.jp2)
- 10.1 Results of this Paper / p185 (0103.jp2)
- 10.2 Further Problems / p187 (0104.jp2)
- BIBLIOGRAPHY / p191 (0106.jp2)
- Published Papers by the Author / p201 (0111.jp2)
