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Time-Space Scaling for Tele-manipulators

Research Project

Project/Area Number 07455175
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field 計測・制御工学
Research InstitutionHosei University

Principal Investigator

KOBAYASHI Hisato  Hosei Univ.College of Engr., Professor, 工学部, 教授 (30114820)

Co-Investigator(Kenkyū-buntansha) NAKAMURA Hideo  Hosei Univ.College of Engr., Asistant, 工学部, 助手 (10061201)
Project Period (FY) 1995 – 1996
Project Status Completed (Fiscal Year 1996)
Budget Amount *help
¥2,800,000 (Direct Cost: ¥2,800,000)
Fiscal Year 1996: ¥800,000 (Direct Cost: ¥800,000)
Fiscal Year 1995: ¥2,000,000 (Direct Cost: ¥2,000,000)
Keywordstele-manipulation / time scaling / force and position / belateral way / 力覚感知 / 微細対象物 / 時間軸の変換 / 推定法
Research Abstract

This paper is composed of part I and part II.
Part I ; we propose a time scaling control method for micro tele-manipulations. Tools for micro tele-manipulation are necessary when we manipulate an extremely large or small size target. This type of tool has to scal up or scal down both of size and force in bilateral way. But, time scaling should also be considered to build up such ideal environment as we can feel our body size is scaled to the target size. This paper evaluates target recognition in tele-operation process by an experimental master-slave manipulator with this time scaling method.
Part II ; we describe a control of master-slave manipulator with communication time delay. Tele-operation systems need real time force and position information in bilateral way to realize natural operation feeling, while communication lines usually have nonnegligible time delay.
We propose a system using of virtual environment model control. Using this system, operator gets feeling like that he works without time delay.

Report

(3 results)
  • 1996 Annual Research Report   Final Research Report Summary
  • 1995 Annual Research Report
  • Research Products

    (7 results)

All Other

All Publications (7 results)

  • [Publications] Hisato Kobayashi: "MICRO-MACRO MANIPULATOR WITH HAPTIC INTERFACE" Dynamic Systems and Control :. Vol.55-1. 329-337 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] 樹野淳也: "マイクロマクロ・マスタスレーブマニピュレータを用いた微細対象物の力覚感知の可能性" 電気学会論文誌C編. 115. 1109-1114 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Hisato Kobayashi: "Micro-macro manipulator with haptic interface" Dynamic system and control. Vol.55-1. 329-337 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Junya Tatsuno: "Possibility of tactile recognition of micro-targets with micro-macro master slave manipulator" Journal of IEEJ. Vol.115. 1109-1114 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Hisato Kobayashi: "MICRO-MACRO MANIPULATOR WITH HAPTIC INTERFACE" Dynamic Systems and Control:. Vol.55-1. 329-337 (1994)

    • Related Report
      1996 Annual Research Report
  • [Publications] 樹野淳也: "マイクロマクロ・マスタスレーブマニピュレータを用いた微細対象物の力覚感知の可能性" 電気学会論文誌C編. 115. 1109-1114 (1995)

    • Related Report
      1996 Annual Research Report
  • [Publications] 樹野淳也: "マイクロマクロ・マスタスレーブマニピュレータを用いた微細対象物の力覚感知の可能性" 電気学会論文誌C編. 115. 1109-1114 (1995)

    • Related Report
      1995 Annual Research Report

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Published: 1995-04-01   Modified: 2016-04-21  

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