フィードフォワード制御とフィードバック制御を併用した空気圧人工筋マニピュレータの開発

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Published in日本機械学会論文集 C編 Vol. 74; no. 748; pp. 3004 - 3011
Main Authors 橋本, 卓弥, 小林, 宏, 辻, 俊明, 宮田, 俊介
Format Journal Article
LanguageJapanese
Published 一般社団法人 日本機械学会 2008
Online AccessGet full text
ISSN0387-5024
1884-8354
DOI10.1299/kikaic.74.3004

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Author 辻, 俊明
橋本, 卓弥
宮田, 俊介
小林, 宏
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  fullname: 辻, 俊明
  organization: 埼玉大学工学部
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  fullname: 宮田, 俊介
  organization: (株) 神戸製鋼所
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References (2) Sasaki, D., Noritsugu, T. and Takaiwa, M., Development of pneumatic soft robot hand for a human friendly robot, Journal of Robotics and Mechatronics, Vol. 15, No. 3 (2003), pp. 164-171.
(3) Noritsugu, T., Tsuji, Y. and Ito, K., Improvement of control performance of pneumatic rubber artificial muscle manipulator by using electroreological fluid damper, IEEE/ASME Transactions on Mechatronics, Vol. 2, No. 4 (1997), pp. 259-267.
(5) Tsuji, T., Miyata, S., Hashimoto, T. and Kobayashi, H., Controller Design for Robot with Pneumatic Artificial Muscles, Proceedings of SICE-ICASE International Joint Conference 2006, (2006-11), pp. 5419-5422.
(7) Tsuji, T., Ohnishi, K. and Sabanovic, A., A controller design method based on functionality, IEEE Transactions on Industrial Electronics, Vol. 54, No. 6 (2007), pp. 3335-3343.
(8) Mariko, M., Tsuji, T. and Ohnishi, K., Multirate Sampling Method for Acceleration Control System, IEEE Transactions on Industrial Electronics, Vol. 54, No. 3 (2007), pp. 1462-1471.
(1) Kobayashi, K., Application of Wearable Robot to Welfare Apparatus, Journal of Robotics Society of Japan, Vol. 20, No. 8 (2002), pp. 805-808. (in Japanese)
(4) Matsushita, T., Sagara, S., Yamashita, T. and Taniguchi, T.. Force control of one-link robot hand with rubbertuator-application of digital sliding mode control-, Journal of the Robotics Society of Japan, Vol. 11, No. 3 (1997), pp. 461-467. (in Japanese)
(6) Katayama, M. and Kawato, M., Parallel-hierarchical neural network model for motor control of musculo-skeletal system, Transactions of the Institute of Electronics, Information and Communication Engineers, Vol. J73-D-II, No. 8 (1990), pp. 1328-1335. (in Japanese)
References_xml – reference: (4) Matsushita, T., Sagara, S., Yamashita, T. and Taniguchi, T.. Force control of one-link robot hand with rubbertuator-application of digital sliding mode control-, Journal of the Robotics Society of Japan, Vol. 11, No. 3 (1997), pp. 461-467. (in Japanese)
– reference: (6) Katayama, M. and Kawato, M., Parallel-hierarchical neural network model for motor control of musculo-skeletal system, Transactions of the Institute of Electronics, Information and Communication Engineers, Vol. J73-D-II, No. 8 (1990), pp. 1328-1335. (in Japanese)
– reference: (7) Tsuji, T., Ohnishi, K. and Sabanovic, A., A controller design method based on functionality, IEEE Transactions on Industrial Electronics, Vol. 54, No. 6 (2007), pp. 3335-3343.
– reference: (8) Mariko, M., Tsuji, T. and Ohnishi, K., Multirate Sampling Method for Acceleration Control System, IEEE Transactions on Industrial Electronics, Vol. 54, No. 3 (2007), pp. 1462-1471.
– reference: (5) Tsuji, T., Miyata, S., Hashimoto, T. and Kobayashi, H., Controller Design for Robot with Pneumatic Artificial Muscles, Proceedings of SICE-ICASE International Joint Conference 2006, (2006-11), pp. 5419-5422.
– reference: (1) Kobayashi, K., Application of Wearable Robot to Welfare Apparatus, Journal of Robotics Society of Japan, Vol. 20, No. 8 (2002), pp. 805-808. (in Japanese)
– reference: (2) Sasaki, D., Noritsugu, T. and Takaiwa, M., Development of pneumatic soft robot hand for a human friendly robot, Journal of Robotics and Mechatronics, Vol. 15, No. 3 (2003), pp. 164-171.
– reference: (3) Noritsugu, T., Tsuji, Y. and Ito, K., Improvement of control performance of pneumatic rubber artificial muscle manipulator by using electroreological fluid damper, IEEE/ASME Transactions on Mechatronics, Vol. 2, No. 4 (1997), pp. 259-267.
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Title フィードフォワード制御とフィードバック制御を併用した空気圧人工筋マニピュレータの開発
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