書誌事項
- タイトル別名
-
- Design Method for a Bilateral Control System Considering Ambient Environment around Operated Objects
- ソウサ タイショウ ノ シュウヘン カンキョウ オ コウリョ シタ バイラテラル セイギョケイ ノ イチ コウセイホウ
この論文をさがす
抄録
In teleoperation, the operated objects are often present in an ambient environment such as water or blood. It then becomes difficult to distinguish between the reaction force from the operated objects and the reaction force from the ambient environment. This affects the safety of the operation and the operation itself. In this paper, we propose a control method for reproducing the reaction forces from an operated object, excluding the reaction forces from the ambient environment. We introduced the concept of dynamic reproducibility, which is an ideal condition considering the ambient environment. Furthermore, a bilateral control system that considers the ambient environment is designed on the basis of dynamic reproducibility. The validity of the proposed system is confirmed by the simulation results and the experimental results.
収録刊行物
-
- 電気学会論文誌D(産業応用部門誌)
-
電気学会論文誌D(産業応用部門誌) 129 (6), 649-657, 2009
一般社団法人 電気学会
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1390282679635691648
-
- NII論文ID
- 10024776569
-
- NII書誌ID
- AN10012320
-
- ISSN
- 13488163
- 09136339
-
- NDL書誌ID
- 10326436
-
- 本文言語コード
- ja
-
- データソース種別
-
- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
-
- 抄録ライセンスフラグ
- 使用不可