論文

2001年1月

遠隔操作による宇宙ロボットのベース姿勢安定化制御

計測自動制御学会論文集
  • 成清 辰生
  • ,
  • 岡田 進
  • ,
  • Tuan Hoang Duong
  • ,
  • HUNG Nguyen Van Quy

37
1
開始ページ
73
終了ページ
78
記述言語
日本語
掲載種別
DOI
10.9746/sicetr1965.37.73
出版者・発行元
公益社団法人 計測自動制御学会

Master-slave teleoperation system has been used to assist the operator to perform complex and uncertain tasks in space. The system consists of master robot with fixed base located in space station or on the ground and slave robot floating in space. In this paper, the analysis and design of master-slave teleoperation in space are discussed. A master-slave control system that ensures accurate tracking of slave robot upon the master and the stabilization of slave robot's base is proposed. The validity of proposed scheme and performance of system is confirmed by simulations and experiments.

リンク情報
DOI
https://doi.org/10.9746/sicetr1965.37.73
CiNii Articles
http://ci.nii.ac.jp/naid/10006210286
ID情報
  • DOI : 10.9746/sicetr1965.37.73
  • ISSN : 0453-4654
  • CiNii Articles ID : 10006210286
  • identifiers.cinii_nr_id : 1000070231496

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