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Position/Force Scaling of Function-based Bilateral Control System
https://sucra.repo.nii.ac.jp/records/9310
https://sucra.repo.nii.ac.jp/records/93106a3b4b8e-2bc7-4a9b-9d9a-8a31497defe3
名前 / ファイル | ライセンス | アクション |
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A1002431.pdf (961.1 kB)
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Item type | 会議発表論文 / Conference Paper(1) | |||||
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公開日 | 2008-02-06 | |||||
タイトル | ||||||
タイトル | Position/Force Scaling of Function-based Bilateral Control System | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Bilateral control | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | function-based control | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | scaling control | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | force control | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | disturbance observer | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | teleoperation | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
資源タイプ | conference paper | |||||
著者 |
辻, 俊明
× 辻, 俊明× 大西, 公平 |
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著者 ローマ字 | ||||||
TSUJI, Toshiaki | ||||||
著者 ローマ字 | ||||||
OHNISHI, Kouhei | ||||||
著者 所属 | ||||||
慶應義塾大学理工学部システムデザイン工学科 | ||||||
著者 所属(別言語) | ||||||
Faculty of Science and Technology, Department of System Design Engineering, Keio University | ||||||
書誌情報 |
Proceedings of the IEEE-ICIT, International Conference on Industorial Technology, TF-002271 p. 96-101, 発行日 2004 |
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年月次 | ||||||
2004-12 | ||||||
出版者名 | ||||||
出版者 | IEEE-Institute of Electrical and Electronics Engineers, Inc | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | info:doi/10.1109/ICIT.2004.1490264 | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper describes the method of a scaling control for bilateral control systems. We have already suggested the concept of function so that a controller design of decentralized control systems becomes simple and explicit. Our suggestion in this paper is about a position/force scaling control on a function-based bilateral control system. A conventional coordinate transformation is expanded and the idea of scaling matrix is introduced. Independent position and force scaling controls are achieved applying this scaling matrix. We develop the dynarnics of manipulators to show that the dynamics in scaled function coordinates are independent to each other. Experimental results show the high transparency bilateral control with the function-based controller on scaled function coordinates. | |||||
注記 | ||||||
内容記述タイプ | Other | |||||
内容記述 | (c)2004 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | |||||
版 | ||||||
[出版社版] | ||||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
資源タイプ | ||||||
内容記述タイプ | Other | |||||
内容記述 | text | |||||
作成日 | ||||||
日付 | 2008-02-06 | |||||
日付タイプ | Created | |||||
アイテムID | ||||||
A1002431 |