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Article: 仮想非駆動関節を用いたマニピュレータによる可搬重量を超えた物体のハンドリング (第1報,概念と仮想非駆動関節の実現方法)
Title | 仮想非駆動関節を用いたマニピュレータによる可搬重量を超えた物体のハンドリング (第1報,概念と仮想非駆動関節の実現方法) Manipulation of an object exceeding load capacity using virtually unactuated joints (1st report, concept and method to realize virtually unactuated joints) |
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Authors | |
Keywords | Manipulator Robot Actuated joint Actuator Heavy object Virtually unactuated joint |
Issue Date | 2003 |
Citation | 日本機械学会論文集C編, 2003, v. 69, n. 680, p. 1024-1030 How to Cite? Transactions of the Japan Society of Mechanical Engineers, Part C, 2003, v. 69, n. 680, p. 1024-1030 How to Cite? |
Abstract | The load capacity of a manipulator depends on a load capacity of a low output joint or load capacities of some low output joints of the manipulator. Even if a manipulator could not handle an object because of its load capacity, some of its joints still have enough capabilities for handling of the object. In this paper, we propose a method to handle an object using available joints of the manipulator by introducing virtually unactuated joints. The virtually unactuated joints are controlled so that no load will be applied to the joints. Experiments illustrate the validity of the method proposed in this paper. |
Persistent Identifier | http://hdl.handle.net/10722/302717 |
ISSN | 2019 SCImago Journal Rankings: 0.104 |
DC Field | Value | Language |
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dc.contributor.author | Imamura, Jun | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.date.accessioned | 2021-09-07T08:42:27Z | - |
dc.date.available | 2021-09-07T08:42:27Z | - |
dc.date.issued | 2003 | - |
dc.identifier.citation | 日本機械学会論文集C編, 2003, v. 69, n. 680, p. 1024-1030 | - |
dc.identifier.citation | Transactions of the Japan Society of Mechanical Engineers, Part C, 2003, v. 69, n. 680, p. 1024-1030 | - |
dc.identifier.issn | 0387-5024 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302717 | - |
dc.description.abstract | The load capacity of a manipulator depends on a load capacity of a low output joint or load capacities of some low output joints of the manipulator. Even if a manipulator could not handle an object because of its load capacity, some of its joints still have enough capabilities for handling of the object. In this paper, we propose a method to handle an object using available joints of the manipulator by introducing virtually unactuated joints. The virtually unactuated joints are controlled so that no load will be applied to the joints. Experiments illustrate the validity of the method proposed in this paper. | - |
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 | Manipulator | - |
dc.subject | Robot | - |
dc.subject | Actuated joint | - |
dc.subject | Actuator | - |
dc.subject | Heavy object | - |
dc.subject | Virtually unactuated joint | - |
dc.title | 仮想非駆動関節を用いたマニピュレータによる可搬重量を超えた物体のハンドリング (第1報,概念と仮想非駆動関節の実現方法) | - |
dc.title | Manipulation of an object exceeding load capacity using virtually unactuated joints (1st report, concept and method to realize virtually unactuated joints) | - |
dc.type | Article | - |
dc.description.nature | link_to_OA_fulltext | - |
dc.identifier.doi | 10.1299/kikaic.69.1024 | - |
dc.identifier.scopus | eid_2-s2.0-0037672284 | - |
dc.identifier.volume | 69 | - |
dc.identifier.issue | 680 | - |
dc.identifier.spage | 1024 | - |
dc.identifier.epage | 1030 | - |