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Hierarchical Control of End-Point Impedance and Joint Impedance for Redundant Manipulators
https://hiroshima.repo.nii.ac.jp/records/2007023
https://hiroshima.repo.nii.ac.jp/records/20070238a184aaa-1a0f-4d48-b5fd-dcf9cf921a8d
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
IEEE_TSMC_A_SH_29_6_627-636_1999.pdf (264.6 KB)
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| Item type | デフォルトアイテムタイプ_（フル）(1) | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 公開日 | 2023-03-18 | |||||||||||
| タイトル | ||||||||||||
| タイトル | Hierarchical Control of End-Point Impedance and Joint Impedance for Redundant Manipulators | |||||||||||
| 言語 | en | |||||||||||
| 作成者 |
Tsuji, Toshio
× Tsuji, Toshio
× Jazidie, Achmad
× Kaneko, Makoto
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| アクセス権 | ||||||||||||
| アクセス権 | open access | |||||||||||
| アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||||||
| 権利情報 | ||||||||||||
| 権利情報 | Copyright (c) 2002 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. | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | Impedance control | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | manipulators | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | redundancy | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | robot dynamics | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | NDC | |||||||||||
| 主題 | 530 | |||||||||||
| 内容記述 | ||||||||||||
| 内容記述 | This paper proposes an impedance control methodfor redundant manipulators, which can control not only the endpointimpedance using one of the conventional impedance controlmethods, but the joint impedance which has no effects on theend-point impedance. First, a sufficient condition for the jointimpedance controller is derived. Then, the optimal controller fora given desired joint impedance is designed using the least squaresmethod. Finally, computer simulations and experiments using aplanar direct-drive robot are performed in order to confirm thevalidity of the proposed method. | |||||||||||
| 言語 | en | |||||||||||
| 出版者 | ||||||||||||
| 出版者 | IEEE | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||
| 資源タイプ | journal article | |||||||||||
| 出版タイプ | ||||||||||||
| 出版タイプ | VoR | |||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||
| 関連情報 | ||||||||||||
| 関連タイプ | isVersionOf | |||||||||||
| 識別子タイプ | DOI | |||||||||||
| 関連識別子 | http://dx.doi.org/10.1109/3468.798066 | |||||||||||
| 収録物識別子 | ||||||||||||
| 収録物識別子タイプ | ISSN | |||||||||||
| 収録物識別子 | 1083-4427 | |||||||||||
| 開始ページ | ||||||||||||
| 開始ページ | 627 | |||||||||||
| 書誌情報 |
IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans 巻 29, 号 6, p. 627-636, 発行日 1999 |
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| 旧ID | 14195 | |||||||||||
