| 摘要 |
PROBLEM TO BE SOLVED: To provide a lever handle valve operating device operated by a task skill which is for lever handle valve operation and is for mounting skillfulness of a human to a robot in order to execute opening or closing operation of lever handle valves with various sizes irrespective of positional errors. SOLUTION: Operational procedures for the task skill are shown in order to describe the opening/closing operation of the lever handle valve 12 on the basis of the task skill. The operational procedures are described on the basis of initial conditions, task skill operation, and termination conditions as a model for the task skill. Hybrid control of impedance and force, or impedance control is mounted to the task skill operation. COPYRIGHT: (C)2007,JPO&INPIT
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