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Remote Operation Method for Manipulators which Control the Pressure Force.
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- Matsumaru Takafumi
- Toshiba Corporation
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- Matsuhira Nobuto
- Toshiba Corporation
Bibliographic Information
- Other Title
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- 押し付け力制御マニピュレータの遠隔操作手法
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Description
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.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 14 (2), 255-262, 1996
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390282679702090368
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- NII Article ID
- 10011652073
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
- OpenAIRE
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- Abstract License Flag
- Disallowed