Low-force kinesthetic guidance for accurate positioning and tracking

Ryo Kikuuwe, Takahiro Yamamoto, Hideo Fujimoto

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

2 被引用数 (Scopus)

抄録

This paper considers the application of a low-force robotic manipulator to guide a human user's movement to locate a tool at a predetermined position or to move a tool along a predetermined trajectory. In this application, the guidance must be sufficiently smooth because the user's force can easily overcome the guiding force. The proxy-based sliding mode control, which we previously proposed, is capable of achieving a smooth overdamped convergence to a given position, without overshoots, with a limited actuator torque. This paper proposes the application of the proxy-based sliding mode control to low-force kinesthetic guidance. Experimental results demonstrate the effectiveness of this application, showing that the time constant of the guidance control should be set around 0.1 sec rather than 0.01 sec or 0.5 sec.

本文言語英語
ホスト出版物のタイトル14th Symposium onHaptics Interfaces for Virtual Environment andTeleoperator Systems 2006 - Proceedings
ページ491-498
ページ数8
出版ステータス出版済み - 11月 17 2006
イベント14th Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2006 - Alexandria, VA, 米国
継続期間: 3月 25 20063月 26 2006

出版物シリーズ

名前14th Symposium onHaptics Interfaces for Virtual Environment andTeleoperator Systems 2006 - Proceedings
2006

その他

その他14th Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2006
国/地域米国
CityAlexandria, VA
Period3/25/063/26/06

!!!All Science Journal Classification (ASJC) codes

  • 工学(全般)

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