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Symmetric impedance matched teleoperation with position tracking
http://hdl.handle.net/2297/9539
http://hdl.handle.net/2297/95395c9e910c-2405-4afb-ac6a-ed03c6b7bc53
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-NAMERIKAWA-T-4496.pdf (352.7 kB)
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| Item type | 会議発表論文 / Conference Paper(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2017-10-03 | |||||
| タイトル | ||||||
| タイトル | Symmetric impedance matched teleoperation with position tracking | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
| 資源タイプ | conference paper | |||||
| 著者 |
Namerikawa, Toru
× Namerikawa, Toru× Kawada, Hisanosuke |
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| 提供者所属 | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | 金沢大学大学院自然科学研究科知能情報・数理 | |||||
| 書誌情報 |
Proceedings of the IEEE Conference on Decision and Control p. 4496-4501, 発行日 2006-01-01 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 0191-2216 | |||||
| NCID | ||||||
| 収録物識別子タイプ | NCID | |||||
| 収録物識別子 | AA10474572 | |||||
| 出版者 | ||||||
| 出版者 | Institute of Electrical and Electronics Engineers (IEEE) | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | In this paper, we propose a novel passivity-based teleoperation architecture for bilateral force and position tracking control problem. It has the passivity-based symmetric impedance matched architecture with a virtual damping. The novel teleoperation can solve the problems of position tracking. Lyapunov stability methods are used to establish the range of position control gains on the master and slave side. We show the asymptotical stability of the system. Then the controller is designed considering a trade-off between an operationability and a position tracking performance. Experimental results show the effectiveness of our proposed symmetric impedance matched teleoperation compared with the conventional one. ©2006 IEEE. | |||||
| 著者版フラグ | ||||||
| 出版タイプ | VoR | |||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
| シリーズ | ||||||
| 関連名称 | 4177550 | |||||
