書誌事項
- タイトル別名
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- Impedance estimation of high stiffness environment based on robotic force sensation
説明
<p>Robots are required to adapt flexibly to environmental changes in order to work in various environments. One of the effective ways to adapt flexibly to environmental changes is to estimate the impedance of the environments. The parameters of the impedance control is designed based on the impedance of the environments. The purpose of this study is to estimate the impedance of a high stiffness environments from the position and force information of the robot’s hand. In proposed method, exceptional handling of numerical calculation errors enables stable stiffness estimation. The estimation of the stiffness in one axis is shown by verification through experiments.</p>
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2020 (0), 2A1-M08-, 2020
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
- 1391130851451923712
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- NII論文ID
- 130007943953
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- ISSN
- 24243124
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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