書誌事項
- タイトル別名
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- Development of a Master Slave Manipulator System for Space Use
- ウチュウヨウ マスタ スレーブ マニピュレータ システム ノ カイハツ
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抄録
A generalized master slave manipulator system which was assumed to operate near and/or around the space station was developed. A standardized serial communication line was used between the master and the slave manipulator. The master manipulator was designed to be well self-balance for getting as same feelings as if it was operated under the zero-gravity condition. A force/torque reflecting bilateral control using the force-torque sensor settled at the wrist of the slave manipulator was adopted. A experiment under which the slave manipulator was in a vacuum chamber was performed and it could be operated within a restricted sight of cameras set up in the chamber with changing the coordinates according to camera views. The problems which would result from adopting a generalized master slave manipulator system were almost solved except the delay caused by the calculation time.
収録刊行物
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- 日本航空宇宙学会誌
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日本航空宇宙学会誌 35 (406), 546-553, 1987
一般社団法人 日本航空宇宙学会
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詳細情報 詳細情報について
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- CRID
- 1390001204506774144
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- NII論文ID
- 130003782777
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- NII書誌ID
- AN00189072
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- ISSN
- 24241369
- 00214663
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- NDL書誌ID
- 3154454
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可