| File | |
| Title |
動作支援用6自由度マニピュレータのインピーダンス制御 : 忘却性を考慮したインピーダンスパラメータのオンライン学習法
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| Title |
Impedance Control of an Action Support 6-Degree-of-Freedom Manipulator : On-Line Learning Method of Impedance Parameter Considering Forgetfulness
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| Title Transcription |
ドウサ シエンヨウ 6ジユウド マニピュレータ ノ インピーダンス セイギョ : ボウキャクセイ オ コウリョ シタ インピーダンス パラメータ ノ オンライン ガクシュウホウ
|
| Creator |
Yano Kenichi
|
| Source Title |
日本機械学会論文集. C編
|
| Volume | 76 |
| Issue | 772 |
| Start Page | 3520 |
| End Page | 3527 |
| Journal Identifire |
ISSN 03875024
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| Descriptions |
This paper proposes a control system for action support manipulators. A 6-dgree-of-freedom manipulator is controlled with an impedance control. Impedance parameters are tuned by on-line learning with a force sensor. The learning rule is convenient and considers forgetfulness on handling. The proposed method is applied to a meal support manipulator as one application example. A weight between position control and force control is used to carry the hand to the mouth surely. Usefulness of this method is verified through experiments.
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| Subjects |
Manipulator
Intelligent Equipment
Working Conditions
Impedance Control
On-line Learning
Forgetfulness
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| Language |
jpn
|
| Resource Type | journal article |
| Publisher |
一般社団法人日本機械学会
The Japan Society of Mechanical Engineers
|
| Date of Issued | 2010-12 |
| Rights |
一般社団法人日本機械学会
|
| Publish Type | Accepted Manuscript |
| Access Rights | open access |
| Relation |
[NCID] AN00187463
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[NAID] http://ci.nii.ac.jp/naid/110008006863
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