WEKO3
アイテム
Analysis of Suitable Postures for Robot Manipulator Applying Force using Numerical Optimization Method
http://hdl.handle.net/10228/4556
http://hdl.handle.net/10228/45566c962ee7-a4f9-48c0-a335-8fdf64d5e7fc
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
MechRob2004_1v2.pdf (405.9 kB)
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| アイテムタイプ | 会議発表論文 = Conference Paper(1) | |||||||||||
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| 公開日 | 2010-02-18 | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||||||||
| 資源タイプ | conference paper | |||||||||||
| タイトル | ||||||||||||
| タイトル | Analysis of Suitable Postures for Robot Manipulator Applying Force using Numerical Optimization Method | |||||||||||
| 言語 | en | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| 著者 |
小林, 順
× 小林, 順
WEKO
126
× Kishida, Shintarou× Ohkawa, Fujio |
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| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | This paper discusses suitable postures for a robot manipulator applying a force. In order to find out the suitable postures, a performance index to estimate the suitableness of a posture of a robot manipulator is defined, and then a constrained optimization problem is formulated; the performance index is minimized under a geometric condition. The suitable posturescan be obtained by solving the constrained optimization problem numerically. Two case studies – obtaining and examining suitable postures for pushing and pulling robots – are conducted. The findings in the case studies reveal that the suitable postures can be classified into two types and the robot manipulators choose one of them depending on the magnitude of the effort force. A force control algorithm based on the results of the numerical analysis provides a capability to generate a large effort force for a robot manipulator. Moreover, by adoption of the force control algorithm, reduction of energy loss is expected. | |||||||||||
| 書誌情報 |
International IEEE Conference Mechatronics & Robotics 2004 発行日 2004-09-13 |
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| 出版社 | ||||||||||||
| 出版社 | Institute of Electrical and Electronics Engineers | |||||||||||
| 著作権関連情報 | ||||||||||||
| 権利情報 | ©2009 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | |||||||||||
| 出版タイプ | ||||||||||||
| 出版タイプ | VoR | |||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||
| 査読の有無 | ||||||||||||
| 値 | yes | |||||||||||
