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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
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
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