WEKO3
インデックスリンク
アイテム
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戦略的逆運動学による産業用ロボットのオフラインプログラミング: リンクパラメータ表現のモジュール化
https://doi.org/10.24517/00050195
https://doi.org/10.24517/000501956044b316-9186-4ad5-ad26-a244a55996ed
名前 / ファイル | ライセンス | アクション |
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TE-PR-ASAKAWA-N-339.pdf (123.2 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2018-06-15 | |||||
タイトル | ||||||
タイトル | 戦略的逆運動学による産業用ロボットのオフラインプログラミング: リンクパラメータ表現のモジュール化 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Off-Line Programming System with Strategic Inverse Kinematics for Industrial Robot: Modularization of Link Parameter Expression | |||||
言語 | ||||||
言語 | jpn | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
ID登録 | ||||||
ID登録 | 10.24517/00050195 | |||||
ID登録タイプ | JaLC | |||||
著者 |
中村, 一悦
× 中村, 一悦× 浅川, 直紀× 平尾, 政利 |
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著者別表示 |
Nakamura, Kazunobu
× Nakamura, Kazunobu× Asakawa, Naoki× Hirao, Masatoshi |
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提供者所属 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 金沢大学理工研究域機械工学系 | |||||
書誌情報 |
精密工学会学術講演会講演論文集 en : 2005 JSPE Spring Meeting 巻 2005 Spring, 号 D69, p. 339-340, 発行日 2005 |
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NCID | ||||||
識別子タイプ | NCID | |||||
関連識別子 | BA90159927 | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.11522/pscjspe.2005S.0.208.0 | |||||
出版者 | ||||||
出版者 | 精密工学会 = The Japan Society for Precision Engineering | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | The study deals with modularization of link parameter expression of an industrial robot. In general, off-line programming system for articulated robot consists of two parts; main-processor, which generates pose of a robot hand and post-processor, which coverts the pose to a configuration of a robot. Since many of solutions are possible, we have studied “strategic inverse kinematics” with “evaluation module” to obtain appropriate configurations in post-processor. In the article, the concept is expanded to a field of mathematical expression of a robot with “link parameter module” to ease replacement of robot type by a user. From experimental results, the system is found to be effective to improve user interface to cope with variety of types of robot.実際の作業現場において,作業の種類·状況によって複数の産業用ロボットを使用することは少なくない.本研究では,教示の際の作業者の判断基準を戦略として捉え,その戦略を評価モジュールとして解の選択を行うオフラインプログラミングシステムを開発してきたが,本報ではロボットの数学的表現であるリンクパラメータをモジュール化することにより,複数のロボットに対して解を求め,汎用性の高いOLPシステムの開発を試みた. | |||||
内容記述 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 出版者照会後に全文公開 | |||||
権利 | ||||||
権利情報 | Copyright © The Japan Society for Precision Engineering | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | https://www.jstage.jst.go.jp/browse/pscjspe/-char/ja/ | |||||
関連名称 | https://www.jstage.jst.go.jp/browse/pscjspe/-char/ja/ | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | http://www.jspe.or.jp/ | |||||
関連名称 | http://www.jspe.or.jp/ | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | http://www.jspe.or.jp/publication/ext_site/jstage/ | |||||
関連名称 | http://www.jspe.or.jp/publication/ext_site/jstage/ |