Research and Development on Human-Machine Cooperative System Based on Remote Control with Vivid Force Transmission
| Project/Area Number |
25820100
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Power engineering/Power conversion/Electric machinery
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| Research Institution | Kobe University |
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Principal Investigator |
MOTOI Naoki 神戸大学, 海事科学研究科(研究院), 講師 (10611270)
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| Project Period (FY) |
2013-04-01 – 2015-03-31
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| Project Status |
Completed (Fiscal Year 2014)
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| Budget Amount *help |
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2014: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2013: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
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| Keywords | モーションコントロール / ハプティクス / バイラテラル制御 / 電気機器工学 / 制御工学 / 遠隔・自律融合システム / 力制御 |
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| Outline of Final Research Achievements |
This project aimed at the realization of a human-machine cooperative system based on a remote control with vivid force transmission. The research achievements can be summarized as the following points. (1) The force-based compliance control method to adapt to dynamic environment was developed. (2)The motion control method for the human-machine cooperative system based on a remote control with vivid force transmission was developed. In addition, position and force teaching information from human motion is extracted and reproduced. (3) The human-machine cooperative system was prototyped. Then, the researches for the system with multi-functions were conducted by using this prototype.
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Report
(3 results)
Research Products
(9 results)
