WEKO3
インデックスリンク
アイテム
作動範囲に基づく把持システム可操作性指標
http://hdl.handle.net/2297/36481
http://hdl.handle.net/2297/3648179d1541f-4f66-49be-8051-8ddb5db9d4f0
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-WATANABE-T-923.pdf (860.8 kB)
|
|
| Item type | 学術雑誌論文 / Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2017-10-03 | |||||
| タイトル | ||||||
| タイトル | 作動範囲に基づく把持システム可操作性指標 | |||||
| タイトル | ||||||
| タイトル | Operation Range based Manipulability Measures for Grasping System | |||||
| 言語 | en | |||||
| 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 | |||||
| 著者 |
渡辺, 哲陽
× 渡辺, 哲陽 |
|||||
| 書誌情報 |
日本ロボット学会誌 = Journal of the Robotics Society of Japan 巻 28, 号 8, p. 923-929, 発行日 2010-01-01 |
|||||
| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 0289-1824 | |||||
| NCID | ||||||
| 収録物識別子タイプ | NCID | |||||
| 収録物識別子 | AN00141189 | |||||
| DOI | ||||||
| 関連タイプ | isIdenticalTo | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | 10.7210/jrsj.28.923 | |||||
| 出版者 | ||||||
| 出版者 | 日本ロボット学会 = The Robotics Society of Japan | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | This paper presents a novel approach for manipulability for grasping systems. We present a new manipulability measure to evaluate how much easily the robot manipulates the grasped object, simultaneously keeping stable grasp. For the purpose, we use operation range. The operation range is for actuator attached to every joint of robot and provides generable joint torque and velocity and their relation (between generating torque/velocity and actually usable velocity/torque). While we introduced a manipulability measure using the operation range in our previous paper, it was for a limited class due to large computational effort and we could not evaluate whole space of object velocity and could not consider whole space of external wrench. In this paper, we propose new manipulability measures which can be derived simply and can evaluate whole space of object velocity, taking the effect of whole external wrench into consideration. | |||||
| 権利 | ||||||
| 権利情報 | Copyright © 2010 日本ロボット学会 The Robotics Society of Japan | |||||
| 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 | http://www.rsj.or.jp/ | |||||
| 関連URI | ||||||
| 識別子タイプ | URI | |||||
| 関連識別子 | https://www.jstage.jst.go.jp/browse/jrsj/-char/ja/ | |||||
