JP2010149274A - 腱駆動型マニピュレータのための関節空間インピーダンス制御 - Google Patents

腱駆動型マニピュレータのための関節空間インピーダンス制御 Download PDF

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Publication number
JP2010149274A
JP2010149274A JP2009283967A JP2009283967A JP2010149274A JP 2010149274 A JP2010149274 A JP 2010149274A JP 2009283967 A JP2009283967 A JP 2009283967A JP 2009283967 A JP2009283967 A JP 2009283967A JP 2010149274 A JP2010149274 A JP 2010149274A
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Prior art keywords
tendon
torque
joint
error
space
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Japanese (ja)
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JP2010149274A5 (enExample
Inventor
Matthew J Reiland
マシュー・ジェイ・レイランド
Robert Platt
ロバート・プラット
Charles W Ii Wampler
チャールズ・ダブリュー・ワンプラー，ザ・セカンド
Muhammad E Abdallah
ムハマド・イー・アブダラー
Brian Hargrave
ブライアン・ハーグレイヴ
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GM Global Technology Operations LLC
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GM Global Technology Operations LLC
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Publication of JP2010149274A publication Critical patent/JP2010149274A/ja
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39457—Tendon drive

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP2009283967A 2008-12-15 2009-12-15 腱駆動型マニピュレータのための関節空間インピーダンス制御 Pending JP2010149274A (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US12/335,153 US8060250B2 (en) 2008-12-15 2008-12-15 Joint-space impedance control for tendon-driven manipulators

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JP2015076118A Division JP2015163429A (ja) 2008-12-15 2015-04-02 腱駆動型マニピュレータのための関節空間インピーダンス制御

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JP2010149274A5 JP2010149274A5 (enExample) 2014-11-13

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JP2015076118A Pending JP2015163429A (ja) 2008-12-15 2015-04-02 腱駆動型マニピュレータのための関節空間インピーダンス制御

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US (1) US8060250B2 (enExample)
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DE (1) DE102009057285B4 (enExample)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012096349A (ja) * 2010-11-01 2012-05-24 GM Global Technology Operations LLC 力および位置ベースの制御法則を用いたテンドン駆動ロボットフィンガのロバスト操作
JP2012152889A (ja) * 2011-01-27 2012-08-16 GM Global Technology Operations LLC ロボット駆動テンドンに張力を付与するためのシステムおよび方法
JP2017144512A (ja) * 2016-02-17 2017-08-24 国立大学法人 東京大学 Ｚｍｐの算出方法及び装置
JP2017205536A (ja) * 2010-11-12 2017-11-24 インテュイティブ サージカル オペレーションズ， インコーポレイテッド マルチジョイント医療器具の作動における張力制御

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JP7517815B2 (ja) 2010-11-12 2024-07-17 インテュイティブ サージカル オペレーションズ， インコーポレイテッド マルチジョイント医療器具の作動における張力制御
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DE102009057285A1 (de) 2010-07-01

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