書誌事項
- タイトル別名
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- A Study on Force Control for Weeding Robot Manipulator
抄録
This paper describes a robot manipulator system which constructs and develops a weeding robot. The manipulator system consists of a 6D.O.F manipulator, motor drivers for control of motors' torq and a computer. The manipulator has a 6 axes force sensor on the wrist. Software for the robot manipulator system runs on RT-Linux, which guarantees real-time processing. The manipulator has to successfully pluck out a large variety of weeds. An impedance control policy is applied to the manipulator control system so that the manipulator can precisely adjust the force acting on weeds. Finally some control experiments carried out to verify the working of the robot manipulator system.
収録刊行物
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- 日本機械学会九州支部講演論文集
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日本機械学会九州支部講演論文集 2003.56 (0), 297-298, 2003
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001205865406464
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- NII論文ID
- 110002498036
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- ISSN
- 24242780
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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
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可