| File | |
| language |
jpn
|
| 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
|
| Title Alternative (English) | Impedance Control of an Action Support 6-Degree-of-Freedom Manipulator : On-Line Learning Method of Impedance Parameter Considering Forgetfulness
|
| Author |
Taniguchi, Takao
Yano, Kenichi
|
| Description | 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.
|
| Subject | Manipulator
Intelligent Equipment
Working Conditions
Impedance Control
On-line Learning
Forgetfulness
|
| Journal Title |
日本機械学会論文集. C編
|
| Volume | 76
|
| Issue | 772
|
| Start Page | 3520
|
| End Page | 3527
|
| ISSN | 03875024
|
| Published Date | 2010-12
|
| NCID | AN00187463
|
| Publisher | 一般社団法人日本機械学会
|
| Publisher Aalternative | The Japan Society of Mechanical Engineers
|
| NII Type |
Journal Article
|
| Format |
PDF
|
| Resource URL(IsVersionOf) | http://ci.nii.ac.jp/naid/110008006863
|
| Rights | 一般社団法人日本機械学会
|
| Text Version |
著者版
|
| Gyoseki ID | e28232
|
| OAI-PMH Set |
Interdisciplinary Graduate School of Science and Engineering
|
