書誌事項
- タイトル別名
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- Admittance Control Method Achieving Steady Contact
- アンテイシタ セッショク オ ジツゲンスル アドミッタンス セイギョ シュホウ
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抄録
This paper is concerned with the human-robot system such as power assist system based on the position-controlbased impedance control (admittance control) . The system has two force inputs from the operator and the environment, which may cause the vibratory behavior when the robot comes in contact with the environment. It is because the operational force and the contact force do not balance due to the noise, error, delay and so on. This paper proposes the admittance control with two inputs that achieves steady contact with an environment by modifying the contact force information. The effectiveness of the proposed method is demonstrated through several experiments.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 26 (6), 635-642, 2008
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204724952064
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- NII論文ID
- 10024269547
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
- http://id.crossref.org/issn/02891824
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- HANDLE
- 10748/5546
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- NDL書誌ID
- 9649369
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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
- IRDB
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可