腱駆動型球体関節機構による力覚伝達

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2013/03/01

タイトル(英語): Transmission of Force Sensation Achieved by Tendon-Driven Spherical Joint Mechanism

著者名: 嶌本　慶太（慶応義塾大学理工学部システムデザイン工学科），谷田　和貴（慶応義塾大学理工学部システムデザイン工学科），野崎　貴裕（慶応義塾大学理工学部システムデザイン工学科），大西　公平（慶応義塾大学理工学部システムデザイン工学科）

著者名(英語): Keita Shimamoto (Department of System Design Engineering, Keio University), Kazuki Tanida (Department of System Design Engineering, Keio University), Takahiro Nozaki (Department of System Design Engineering, Keio University), Kouhei Ohnishi (Department of System Design Engineering, Keio University)

キーワード: 力覚伝達，張力制御，腱駆動，外乱オブザーバ，マスタ・スレーブシステム，球体関節　　transmission of force sensation，tension control，tendon-driven，disturbance observer，master-slave system，spherical joint

要約(英語): Conventionally, the large inertia in multiple-degree-of-freedom robots is a problem when using bilateral control for the transmission of force sensation. In this paper, a motion control method for tendon-driven spherical joint mechanisms is proposed to transmit the force sensation. The mechanism is lightweight and has two degrees of freedom in one joint. In the proposed control method, an imaginary plane is defined and utilized for force projection to control force. The experimental results show that the transmission of the force sensation was achieved using the proposed control method.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.133 No.3 （2013） 特集：産業計測制御全般

本誌掲載ページ: 307-313 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/133/3/133_307/_article/-char/ja/