JP7832624B2 - 制御システム、制御方法及びプログラム - Google Patents

制御システム、制御方法及びプログラム

Info

Publication number
JP7832624B2
JP7832624B2 JP2022533942A JP2022533942A JP7832624B2 JP 7832624 B2 JP7832624 B2 JP 7832624B2 JP 2022533942 A JP2022533942 A JP 2022533942A JP 2022533942 A JP2022533942 A JP 2022533942A JP 7832624 B2 JP7832624 B2 JP 7832624B2
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JP
Japan
Prior art keywords
command value
control
virtual object
control system
velocity data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2022533942A
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English (en)
Japanese (ja)
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JPWO2022004568A1 (https=
Inventor
貴裕 野崎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Keio University
Motion LIB Inc
Original Assignee
Keio University
Motion LIB Inc
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Filing date
Publication date
Application filed by Keio University, Motion LIB Inc filed Critical Keio University
Publication of JPWO2022004568A1 publication Critical patent/JPWO2022004568A1/ja
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Publication of JP7832624B2 publication Critical patent/JP7832624B2/ja
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Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1689—Teleoperation

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP2022533942A 2020-06-30 2021-06-25 制御システム、制御方法及びプログラム Active JP7832624B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020113633 2020-06-30
JP2020113633 2020-06-30
PCT/JP2021/024049 WO2022004568A1 (ja) 2020-06-30 2021-06-25 制御システム、制御方法及びプログラム

Publications (2)

Publication Number Publication Date
JPWO2022004568A1 JPWO2022004568A1 (https=) 2022-01-06
JP7832624B2 true JP7832624B2 (ja) 2026-03-18

Family

ID=79316025

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022533942A Active JP7832624B2 (ja) 2020-06-30 2021-06-25 制御システム、制御方法及びプログラム

Country Status (3)

Country Link
US (1) US12377533B2 (https=)
JP (1) JP7832624B2 (https=)
WO (1) WO2022004568A1 (https=)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005109139A1 (ja) 2003-07-24 2005-11-17 Keio University 位置・力制御装置
JP2009279699A (ja) 2008-05-21 2009-12-03 Nagaoka Univ Of Technology 位置・力再現方法および位置・力再現装置
JP2017071012A (ja) 2015-10-06 2017-04-13 トヨタ自動車株式会社 マスタースレーブ装置
JP2019030960A (ja) 2013-09-19 2019-02-28 学校法人慶應義塾 位置・力制御装置、位置・力制御方法及びプログラム

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62124886A (ja) * 1985-11-26 1987-06-06 工業技術院長 動的コンプライアンス逆送型バイラテラル遠隔制御装置
JPS62297080A (ja) * 1986-06-13 1987-12-24 古田　勝久 マスタスレ−ブマニピユレ−タ
JPH0741560B2 (ja) * 1989-11-16 1995-05-10 工業技術院長 マスター・スレーブロボットの制御方法
JP3569764B2 (ja) 2001-11-19 2004-09-29 独立行政法人 科学技術振興機構 二脚歩行式移動装置およびその歩行制御装置並びに歩行制御方法
WO2012029227A1 (ja) * 2010-08-31 2012-03-08 パナソニック株式会社 マスタースレーブロボットの制御装置及び制御方法、マスタースレーブロボット、制御プログラム、並びに、集積電子回路
US10813710B2 (en) * 2017-03-02 2020-10-27 KindHeart, Inc. Telerobotic surgery system using minimally invasive surgical tool with variable force scaling and feedback and relayed communications between remote surgeon and surgery station
JP2019130600A (ja) * 2018-01-30 2019-08-08 ソニー株式会社 マスタ−スレーブシステム、操作装置、並びにロボット装置
US11787037B2 (en) * 2018-04-15 2023-10-17 University Of Tsukuba Behavior estimation apparatus, behavior estimation method, and behavior estimation program

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005109139A1 (ja) 2003-07-24 2005-11-17 Keio University 位置・力制御装置
JP2009279699A (ja) 2008-05-21 2009-12-03 Nagaoka Univ Of Technology 位置・力再現方法および位置・力再現装置
JP2019030960A (ja) 2013-09-19 2019-02-28 学校法人慶應義塾 位置・力制御装置、位置・力制御方法及びプログラム
JP2017071012A (ja) 2015-10-06 2017-04-13 トヨタ自動車株式会社 マスタースレーブ装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
横小路 泰義 Yasuyoshi YOKOKOHJI，理想的な筋運動感覚を与えるマスタ・スレーブマニピュレータのバイラテラル制御 Bilateral Control of Master-Slave Manipulators for Ideal Kinesthetic Coupling，計測自動制御学会論文集 第２７巻 第１号 TRANSACTIONS OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS，日本，社団法人計測自動制御学会 THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS，第27巻

Also Published As

Publication number Publication date
US12377533B2 (en) 2025-08-05
JPWO2022004568A1 (https=) 2022-01-06
WO2022004568A1 (ja) 2022-01-06
US20230264342A1 (en) 2023-08-24

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