人・機械協調システムによる位置・力情報を有する教示信号の実時間修正手法

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: 2015/05/01

タイトル(英語): Real-Time Modification Method of Position and Force Teaching Information in a Human-Robot Cooperative System

著者名: 元井　直樹（神戸大学大学院 海事科学研究科），久保　亮吾（慶應義塾大学 理工学部），下野　誠通（横浜国立大学大学院 工学研究院）

著者名(英語): Naoki Motoi (Graduate School of Maritime Sciences, Kobe University), Ryogo Kubo (Department of Electronics and Electrical Engineering, Keio University), Tomoyuki Shimono (Faculty of Engineering, Yokohama National University)

キーワード: モーションコントロール，バイラテラル制御，人・機械協調システム，実時間修正　　motion control，bilateral control，human-robot cooperative system，real-time modification

要約(英語): This paper proposes a real-time modification method of position and force teaching information in a human-robot cooperative system. In this study, human motion is recorded using bilateral control to obtain position and force teaching information. When the recorded information is reproduced, a human operator can add an operation to modify the teaching information. Because of the ability to modify the teaching information, it is possible to create variations in the motion to accommodate environmental changes. On the other hand, without the modification by the operator, the original recorded motion is achieved. In the proposed method, the operator focuses on modifying the teaching information in order to realize the desired motion. The validity of the proposed method is confirmed by experimental results.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.135 No.5 （2015）

本誌掲載ページ: 503-512 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/135/5/135_503/_article/-char/ja/