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重心及びZMP予測に基づく遠隔操縦油圧ショベルの転倒防止制御
http://hdl.handle.net/2241/00150611
http://hdl.handle.net/2241/001506112536ed40-cf7b-496e-830a-2ad048eedd25
名前 / ファイル | ライセンス | アクション |
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TJSME_83-850 (5.4 MB)
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Item type | Journal Article(1) | |||||
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公開日 | 2018-02-19 | |||||
タイトル | ||||||
タイトル | 重心及びZMP予測に基づく遠隔操縦油圧ショベルの転倒防止制御 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Tip-over prevention control for teleoperated excavator based on CoG and ZMP prediction | |||||
言語 | ||||||
言語 | eng | |||||
資源タイプ | ||||||
資源 | http://purl.org/coar/resource_type/c_6501 | |||||
タイプ | journal article | |||||
著者 |
重松, 康祐
× 重松, 康祐× 坪内, 孝司× 皿田, 滋 |
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著者別名 |
SHIGEMATSU, Kosuke
× SHIGEMATSU, Kosuke× TSUBOUCHI, Takashi× SARATA, Shigeru |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper describes tip-over prevention control of a teleoperated excavator based on center of gravity (CoG) and zero moment point (ZMP) prediction. This method predicts a future CoG and ZMP when an operation input is given. This allows the determination of the risk of tip-over by the operation input before an excavator moves. When the risk is detected, the operation input to the actuator is modified or stopped automatically to prevent from tip-over. Future CoG and ZMP is predicted by computing the movement of a teleoperated excavator based on an approximate excavator movement model. The proposed method successfully demonstrates tip-over prevention via scaled model experiments of the hydraulic drive. | |||||
書誌情報 |
日本機械学会論文集 en : Transactions of the JSME 巻 83, 号 850, p. 17-00040, 発行日 2017-06 |
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ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 2187-9761 | |||||
書誌レコードID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AA12574840 | |||||
DOI | ||||||
識別子タイプ | DOI | |||||
関連識別子 | 10.1299/transjsme.17-00040 | |||||
権利 | ||||||
権利情報 | © 2017 The Japan Society of Mechanical Engineers | |||||
著者版フラグ | ||||||
値 | author | |||||
出版者 | ||||||
出版者 | 一般社団法人日本機械学会 | |||||
出版者別名 | ||||||
出版者 | Japan Society of Mechanical Engineers |