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ID 19467
本文ファイル
別タイトル
On-Line Learning of Non-Contact Impedance and its Appliation to Contact Tasks
著者
寺内 睦博
石井 靖久
卜 楠
キーワード
Impedance Control
Virtual Impedance
Impedance Learning
On-Line Learning
NDC
機械工学
抄録(英)
Impedance control is one of the most effective control methods for interaction between a manipulator and task environments. The force resulted by the interaction, however, does not occur until the end-effector of the manipulator touches its environment. A non-contact impedance control method has been proposed in order to achieve the impedance control before the contact. The method can regulate not only the end-point impedance but also the virtual impedance such that the end-effector is surrounded by a virtual object which can touch the environment before a real contact. This paper proposes a learning method using neural networks to regulate the virtual impedance parameters for given tasks. The validity of the method is verified through computer simulations and experiments with a conventional robot manipulator.
掲載誌名
日本機械学會論文集. C編
70巻
695号
開始ページ
1999
終了ページ
2005
出版年月日
2004-07-25
出版者
社団法人日本機械学会
ISSN
0387-5024
NCID
言語
日本語
NII資源タイプ
学術雑誌論文
広大資料タイプ
学術雑誌論文
DCMIタイプ
text
フォーマット
application/pdf
著者版フラグ
publisher
権利情報
Copyright (c) 2004 社団法人日本機械学会
部局名
工学研究科