| Project/Area Number |
15K05871
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Kochi University of Technology |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
井上 喜雄 高知工科大学, 総合研究所, 教授 (50299369)
岡 宏一 高知工科大学, システム工学群, 教授 (10160649)
渡橋 和政 高知大学, 教育研究部医療学系臨床医学部門, 教授 (70204295)
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| Co-Investigator(Renkei-kenkyūsha) |
OKA Koichi 高知工科大学, システム工学群, 教授 (10160649)
ORIHASHI Kazumasa 高知大学, 教育研究部, 教授 (70204295)
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| Project Period (FY) |
2015-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| Budget Amount *help |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2017: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2016: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
Fiscal Year 2015: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
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| Keywords | モーションコントロール / マスタ・スレーブ / 力覚 / 位置制御 / バイパス回路 |
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| Outline of Final Research Achievements |
In recent years, surgical robots and industrial robots have come into wider use. These robots do not yet provide a force sense to the surgeon/operator, but such force sense will be necessary on the next generation robots. We have proposed a master-slave system of the series connection type that generates a force sense using conventional bilateral control without a force sensor and a reduction gear. The system can change a force sense and moving amount by electrical control. Basic technology of the system is confirmed with a prototype robot. In future studies, we apply these technology to achieve a practical robot.
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