WEKO3
アイテム
把持システムのための関節トルク・速度対ベースド可操作性
http://hdl.handle.net/2297/31489
http://hdl.handle.net/2297/31489dc5eeff7-ed26-4e07-bdb9-1f3e08ad1d7f
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-WATANABE-T-358.pdf (1.1 MB)
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| 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 | 把持システムのための関節トルク・速度対ベースド可操作性 | |||||
| タイトル | ||||||
| タイトル | Joint Torque-velocity Pair Based Manipulability 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 |
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| 書誌情報 |
日本ロボット学会誌 = Journal of the Robotics Society of Japan 巻 27, 号 3, p. 358-367, 発行日 2009-04-15 |
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| 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 | |||||
| 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 provides a new approach of manipulability for general grasping system. While conventional manipulability is the 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. | |||||
| 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/index.html | |||||
| 関連URI | ||||||
| 識別子タイプ | URI | |||||
| 関連識別子 | http://ci.nii.ac.jp/naid/10024790028 | |||||
