書誌事項
- タイトル別名
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- A Method of Impedance Control of a Master-slave Manipulation System.
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抄録
A control method of an anthropomorphic redundant master-slave manipulation system is proposed to be applied to advanced human robot systems, e.g., tele-existence.<br>The impedance control method can be clasified into torque-control type and motion-control type. It is proved by both theoreticaly and experimentally that the motion-control type is suitable for the impedance control of manipulators with reduction gear mechanism. Next control methods of redundant unilateral/bilateral manipulators are proposed and their stabilities are discussed. Efficiency of the proposed methods are demonstrated using a hardware robot system.
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 10 (4), 490-500, 1992
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
- 1390282679702921728
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- NII論文ID
- 130000844336
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- HANDLE
- 2261/7208
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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
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可