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ID 33045
フルテキストURL
著者
Takaiwa, Masahiro Okayama University
Noritsugu, Toshiro Okayama University
Fujie, Kenichi Okayama Univeristy
抄録

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.

キーワード
compliance control
force feedback
manipulators
observers
position control
virtual reality
備考
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.
発行日
2002-8
出版物タイトル
SICE 2002. Proceedings of the 41st SICE Annual Conference
3巻
開始ページ
1724
終了ページ
1727
資料タイプ
学術雑誌論文
言語
English
査読
有り
Submission Path
mechanical_engineering/12