| ID | 33045 |
| FullText URL | |
| Author |
Takaiwa, Masahiro
Kaken ID
researchmap
Fujie, Kenichi
|
| Abstract | The goal of this study is to develop a mechanical system that can display elastic characteristic of an object aiming at the application in the field of virtual reality. A pneumatic parallel manipulator is introduced as a driving mechanism, which consequently brings the capability of minute force displaying property owing to the air compressibility. A compliance control system without using force/moment sensor is constructed by introducing a disturbance observer, and a compliance display scheme is proposed. The validity of the proposed scheme is verified experimentally. |
| Keywords | compliance control
force feedback
manipulators
observers
position control
virtual reality
|
| Note | Published with permission from the copyright holder. this is the institute's copy, as published in SICE 2002. Proceedings of the 41st SICE Annual Conference, Date: 5-7 Aug. 2002, Volume 3, Pages 1724-1727.
Publisher URL:http://ieeexplore.ieee.org/search/wrapper.jsp?arnumber=1196577 Copyright © 2002 IEEE. All rights reserved. |
| Published Date | 2002-8
|
| Publication Title |
SICE 2002. Proceedings of the 41st SICE Annual Conference
|
| Volume | volume3
|
| Start Page | 1724
|
| End Page | 1727
|
| Content Type |
Journal Article
|
| language |
English
|
| OAI-PMH Set |
岡山大学
|
| DOI |
