抄録
Conventionally, the large inertia in multiple-degree-of-freedom robots is a problem when using bilateral control for the transmission of force sensation. In this paper, a motion control method for tendon-driven spherical joint mechanisms is proposed to transmit the force sensation. The mechanism is lightweight and has two degrees of freedom in one joint. In the proposed control method, an imaginary plane is defined and utilized for force projection to control force. The experimental results show that the transmission of the force sensation was achieved using the proposed control method.
| 本文言語 | English |
|---|---|
| ページ（範囲） | 307-313 |
| ページ数 | 7 |
| ジャーナル | ieej transactions on industry applications |
| 巻 | 133 |
| 号 | 3 |
| DOI | |
| 出版ステータス | Published - 2013 |
ASJC Scopus subject areas
- 産業および生産工学
- 電子工学および電気工学