物体把持システムへの触覚応用

カテゴリ: 全国大会

論文No: 4-160

グループ名: 【全国大会】平成26年電気学会全国大会論文集

発行日: 2014/03/05

タイトル(英語): The application of haptics to Grasping-Manipulating Systems

著者名: 渡邉 魁(沼津工業高等専門学校),山之内 亘(沼津工業高等専門学校)

著者名(英語): Kai Watanabe(Numazu National College of Technology),Wataru Yamanouchi(Numazu National College of Technology)

キーワード: モーションコントロール|ハプティクス|バイラテラル制御|把持操りシステム|外乱オブザーバ|加速度制御

要約(日本語): This paper presents control method of grasping-manipulating-system with haptic function. Grasping-manipulating systems are expected that will be applicable to medical equipment and assistive products. Robustness of the systems comes to fruition by acceleration control with disturbance observer. Previous system was too big and could not keep high transparency. Therefore new system has novel structure to be miniaturized and keep high transparency. It consists of two coils and one shaft, and they grasp objects by using two coils. Then, proposed system needs to apply control method which includes damper and limiter. Unstable motion occurred by difference of structure is restrained by limiter.Meanwhile, damper restrains operator from quick operating. Moreover, bilateral control system that is based on mode conversion by Quarry matrix is introduced to grasping-manipulating system. The validity of the proposed method is experimentally confirmed.

原稿種別: 日本語

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