Development of Bilateral Robot System Between Different Mechanical Structure Based on Modal Space Design

カテゴリ: 全国大会

論文No: 4-251

グループ名: 【全国大会】平成21年電気学会全国大会論文集

発行日: 2009/03/15

タイトル(英語): Development of Bilateral Robot System Between Different Mechanical Structure Based on Modal Space Design

著者名: みっさんてぃすくちゃわりっと (長岡技術科学大学),大石 潔(長岡技術科学大学),漆原 史朗(長岡技術科学大学),桂 誠一郎(慶応義塾大学)

著者名(英語): Chowarit Mitsantisuk(Nagaoka University of Technology),Kiyoshi Ohishi(Nagaoka University of Technology),Shiro Urushihara(Nagaoka University of Technology),Seiichiro Katsura(Keio University)

キーワード: モーションコントロール|加速度制御|バイラテラル制御|人間とロボットシステム|反力推定オブザーバ|センサレス力制御

要約(日本語): Recently, robots in master-slave configurations have been proposed to perform tasks in many application areas. However, the industrial robot is not always suitable for human operator due to the lack of compliant capability and safety. This paper describes the design and construction of a twin direct-drive motor system which has been developed for feasibility of using a wire rope mechanism to perform tasks with human operator. On the other hand, in the slave robot, a linear motor is utilized to contact with an unknown environment. The development of twin direct-drive motor system described in this paper has demonstrated that it can detect the good sensitivity for the interaction force and generate haptic feedback to the human operator.

原稿種別: 日本語

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