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Article: 複数のマニピュレータによる薄板の変形制御
| Title | 複数のマニピュレータによる薄板の変形制御 Manipulation of a sheet metal by multi-robots |
|---|---|
| Authors | |
| Keywords | Robot Manipulator Finite-element method Manipulation Sheet metal Deformation |
| Issue Date | 1996 |
| Citation | 日本機械学会論文集Ｃ編, 1996, v. 62, n. 602, p. 3842-3849 How to Cite? Transactions of the Japan Society of Mechanical Engineers, Part C, 1996, v. 62, n. 602, p. 3842-3849 How to Cite? |
| Abstract | In this paper, we propose a control algorithm of multiple manipulators handling a flexible sheet metal, and to discuss how to deform a sheet metal and manipulate. First we derive the relation between static deformation of the sheet metal and bending and twisting moments exerted on the flexible sheet metal based on a finite-element model. We then design a control algorithm by which the deformation of the sheet metal is controlled using the internal force applied to it. Experimental results obtained from two industrial robots illustrate the validity of the proposed control system. |
| Persistent Identifier | http://hdl.handle.net/10722/302667 |
| ISSN | 2019 SCImago Journal Rankings: 0.104 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.contributor.author | Yoshida, Hidehiro | - |
| dc.contributor.author | Fukuda, Toshio | - |
| dc.contributor.author | Kanitani, Kiyoshi | - |
| dc.contributor.author | Sakai, Masaru | - |
| dc.date.accessioned | 2021-09-07T08:42:21Z | - |
| dc.date.available | 2021-09-07T08:42:21Z | - |
| dc.date.issued | 1996 | - |
| dc.identifier.citation | 日本機械学会論文集Ｃ編, 1996, v. 62, n. 602, p. 3842-3849 | - |
| dc.identifier.citation | Transactions of the Japan Society of Mechanical Engineers, Part C, 1996, v. 62, n. 602, p. 3842-3849 | - |
| dc.identifier.issn | 0387-5024 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302667 | - |
| dc.description.abstract | In this paper, we propose a control algorithm of multiple manipulators handling a flexible sheet metal, and to discuss how to deform a sheet metal and manipulate. First we derive the relation between static deformation of the sheet metal and bending and twisting moments exerted on the flexible sheet metal based on a finite-element model. We then design a control algorithm by which the deformation of the sheet metal is controlled using the internal force applied to it. Experimental results obtained from two industrial robots illustrate the validity of the proposed control system. | - |
| dc.language | jpn | - |
| dc.relation.ispartof | 日本機械学会論文集Ｃ編 | - |
| dc.relation.ispartof | Transactions of the Japan Society of Mechanical Engineers, Part C | - |
| dc.subject | Robot | - |
| dc.subject | Manipulator | - |
| dc.subject | Finite-element method | - |
| dc.subject | Manipulation | - |
| dc.subject | Sheet metal | - |
| dc.subject | Deformation | - |
| dc.title | 複数のマニピュレータによる薄板の変形制御 | - |
| dc.title | Manipulation of a sheet metal by multi-robots | - |
| dc.type | Article | - |
| dc.description.nature | link_to_OA_fulltext | - |
| dc.identifier.doi | 10.1299/kikaic.62.3842 | - |
| dc.identifier.scopus | eid_2-s2.0-0030264103 | - |
| dc.identifier.volume | 62 | - |
| dc.identifier.issue | 602 | - |
| dc.identifier.spage | 3842 | - |
| dc.identifier.epage | 3849 | - |