書誌事項
- タイトル別名
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- Transmission of Force Sensation Achieved by Tendon-Driven Spherical Joint Mechanism
- ケンクドウガタ キュウタイ カンセツ キコウ ニ ヨル リョクカク デンタツ
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抄録
Conventionally, the large inertia in multiple-degree-of-freedom robots is a problem when using bilateral control for the transmission of force sensation. In this paper, a motion control method for tendon-driven spherical joint mechanisms is proposed to transmit the force sensation. The mechanism is lightweight and has two degrees of freedom in one joint. In the proposed control method, an imaginary plane is defined and utilized for force projection to control force. The experimental results show that the transmission of the force sensation was achieved using the proposed control method.
収録刊行物
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- 電気学会論文誌D(産業応用部門誌)
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電気学会論文誌D(産業応用部門誌) 133 (3), 307-313, 2013
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390282679634086528
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- NII論文ID
- 10031155374
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- NII書誌ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 024347679
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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
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可