Transmission of Force Sensation Achieved by Tendon-Driven Spherical Joint Mechanism

スポンサーリンク

概要

• 論文の詳細を見る

• 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.

著者

• 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

関連論文

• エンドミル加工における外乱オブザーバを用いたセンサレスびびり振動検出技術の開発（第１報）―平均計時法を用いた高精度プロセスモニタリング― : —平均計時法を用いた高精度プロセスモニタリング—
• 低侵襲性外科手術ロボットの力触覚フィードバック
• Transmission of Force Sensation Achieved by Tendon-Driven Spherical Joint Mechanism
• 腱駆動型球体関節機構による力覚伝達

スポンサーリンク