Remote Operation Method for Manipulators which Control the Pressure Force.

DOI 30 References Open Access

Bibliographic Information

Other Title
  • 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.

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Details 詳細情報について

  • CRID
    1390282679702090368
  • NII Article ID
    10011652073
  • NII Book ID
    AN00141189
  • DOI
    10.7210/jrsj.14.255
  • ISSN
    18847145
    02891824
  • Text Lang
    ja
  • Data Source
    • JaLC
    • Crossref
    • CiNii Articles
    • OpenAIRE
  • Abstract License Flag
    Disallowed

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