書誌事項
- タイトル別名
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- Remote Operation Method for Manipulators which Control the Pressure Force.
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説明
This paper describes a control method for manipulators which work by pressing the end-effector to the workpiece under constant force (e.g. grinding and cleaning) and also positioning the end-tip to everywhere on the workpiece using the operation device. Based on ergonomics, “the operator coordinate system” is introduced which is determined from the glance line to the workpiece and the both eyes of the operator. Further, “the corresponding-to-operational-motion type control method” is proposed, on which method the direction of motion of the operation device and the reactive direction of motion of the end-effector are corresponded in the operator coordinate system. Especially for the workpiece with wave shape, “the corresponding-to-objective-shape type control method” is designed, on which method the winding line and the valley line of the wave are recognized during the work and the directions of motion of the operation device are corresponded to these lines. These methods have been applied to the remote control system including the joystick and the lightweight manipulator, so the efficiency of these methods have been confirmed.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 14 (2), 255-262, 1996
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679702090368
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- NII論文ID
- 10011652073
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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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
- OpenAIRE
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- 抄録ライセンスフラグ
- 使用不可