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Joint Torque-velocity Pair Based Manipulability for Grasping System
http://hdl.handle.net/2297/35225
http://hdl.handle.net/2297/35225ce460996-cef1-4954-8ab8-186fc150c090
| 名前 / ファイル | ライセンス | アクション |
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TE-PR-WATANABE-T-2264.pdf (529.1 kB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
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| 公開日 | 2017-10-03 | |||||
| タイトル | ||||||
| タイトル | Joint Torque-velocity Pair Based Manipulability for Grasping System | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 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 |
Watnabe, Tetsuyou
× Watnabe, Tetsuyou |
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| 書誌情報 |
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 巻 2008, 号 4651119, p. 2264-2270, 発行日 2008-01-01 |
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| ISBN | ||||||
| 識別子タイプ | ISBN | |||||
| 関連識別子 | 978-142442058-2 | |||||
| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | 10.1109/IROS.2008.4651119 | |||||
| 出版者 | ||||||
| 出版者 | IEEE | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | This paper provides a new approach of manipulability for general grasping system. While conventional manipulability is analysis in velocity domain and can not include force effect such as gravitational force, the proposing approach can include the force effect to keep grasping. For the purpose, an operation range is introduced. The operation range is for actuator attached with every joint of robot and provides generable joint torque and velocity and their relation (between generating torque/velocity and addable velocity/torque). Using the operation range, we derive manipulability set and measure in velocity domain, including force effect. The proposing method can evaluate not only the performance in velocity domain but also effects of friction, contact state, and external forces, which were not obtained in conventional studies. ©2008 IEEE. | |||||
| 著者版フラグ | ||||||
| 出版タイプ | AM | |||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||
