物理シミュレータを活用した産業用ロボットアームのためのカスケード構造を有するケーブル経路最適化手法に関する研究

Material type: 博士論文

Author: 岩村, 慎太郎

Publisher: Kyoto University

Publication date: 2023-03-23

Material Format: Digital

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Name of awarding university/degree: 京都大学,博士(工学),Doctor of Philosophy (Engineering)

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Material Type: 博士論文
Title: 物理シミュレータを活用した産業用ロボットアームのためのカスケード構造を有するケーブル経路最適化手法に関する研究
Author/Editor: 岩村, 慎太郎
Author Heading: 岩村, 慎太郎イワムラ, シンタロウ
Publication, Distribution, etc.: Kyoto University
Publication Date: 2023-03-23
Publication Date (W3CDTF): 2023-03-23
Alternative Title: Cable path optimization methods with cascade structures for industrial robot arms using physical simulators
Contributor: 松野, 文俊
松原, 厚
泉井, 一浩
Degree grantor/type: 京都大学
Date Granted: 2023-03-23
Dissertation Number: 甲第24606号
Degree Type: 博士(工学)
Doctor of Philosophy (Engineering)
Text Language Code: eng
Subject Heading: industrial robot arm
cable path optimization
physics simulation
cable geometry simulation
cascade structure
NDC: 500
Target Audience: 一般
DOI: 10.14989/doctor.k24606
Access Restrictions: インターネット公開
Rights (production): 学位規則第9条第2項により要約公開
[1] Shintaro Iwamura, Yoshiki Mizukami, Takahiro Endo, and Fumitoshi Matsuno, “Cable-Path Optimization Method for Industrial Robot Arms”, Robotics and Computer-Integrated Manufacturing, Vol.73, Article 102245, 2022 [2] Shintaro Iwamura, Yoshiki Mizukami, Takahiro Endo, and Fumitoshi Matsuno, Efficient Cable Path Optimization Based on Critical Robot Poses for Industrial Robot Arms, IEEE Access, vol. 10, pp. 66028-66044 (2022) (online) DOI: 10.1016/j.rcim.2021.102245 [3] Shintaro Iwamura, Yoshiki Mizukami, Takahiro Endo, and Fumitoshi Matsuno, “Cable Path Optimization by Fixing Multiple Guides on one link for Industrial Robot Arms”, Advanced Robotics, (Submitted)
Data Provider (Database): 国立情報学研究所 : 学術機関リポジトリデータベース（IRDB）（機関リポジトリ）
https://irdb.nii.ac.jp
Original Data Provider (Database): 京都大学 : 京都大学学術情報リポジトリ