2A1-J03 被教示制御を用いた空気圧人工筋駆動アームへの直接教示手法(バイオロボティクス)

• 栢野 裕次

  大阪大

• 池本 周平

  大阪大

• 細田 耕

  大阪大

書誌事項

タイトル別名

• 2A1-J03 Direct teaching method with the recipient control for robot arms driven by pneumatic artificial muscles(Biorobotics)

抄録

Direct teaching method is an approach to intuitively produce target motions to robot arms. So far, we have proposed a direct teaching method for robot arms driven by pneumatic artificial muscles(PAMs). The method requires to measure pressures and tensions of PAMs to generate desired pressures for reproducing taught motions. In the method, it is important to prevent slacks and excessive tensions of PAMs to reproduce taught motions. This paper presents a direct teaching method with the teaching control for robot arms driven by PAMs. The proposed method is derived from the simplest analytical model of PAMs and requires only pressures and tensions of PAMs in robot arms. We conducted teaching experiments using a real robot arm and compared of performances between two direct teaching methods with and without the recipient control.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2014 (0), _2A1-J03_1-_2A1-J03_4, 2014

  一般社団法人 日本機械学会

キーワード

• Pneumatic artificial muscle
• biomechatronics
• direct teaching

詳細情報

• CRID: 1390282680915518976
• NII論文ID: 110009966871
• DOI: 10.1299/jsmermd.2014._2a1-j03_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2014/0/2014__2A1-J03_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可