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Manipulability Measures taking Necessary Joint Torques for Grasping into consideration
http://hdl.handle.net/2297/35245
http://hdl.handle.net/2297/352454a2cc9a9-0ae8-44d8-8cfb-9660c881d63b
| 名前 / ファイル | ライセンス | アクション |
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TE-PR-WATANABE-T-593.pdf (434.0 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 | Manipulability Measures taking Necessary Joint Torques for Grasping into consideration | |||||
| 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 |
Watanabe, Tetsuyou
× Watanabe, Tetsuyou |
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| 書誌情報 |
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 巻 2010, 号 art. no. 5651352, p. 598-603, 発行日 2010-01-01 |
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| ISBN | ||||||
| 識別子タイプ | ISBN | |||||
| 関連識別子 | 978-142446675-7 | |||||
| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | 10.1109/IROS.2010.5651352 | |||||
| 出版者 | ||||||
| 出版者 | IEEE | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | This paper presents new manipulability measures to evaluate how much easily the robot manipulates the grasped object, simultaneously taking how much magnitude of joint torque we need to keep grasping into consideration. 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 addable 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. This paper proposes new manipulability measures which can evaluate whole space of object velocity, taking the effect of external wrench in whole space into consideration. ©2010 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 | |||||
