双腕マニピュレータの環境学習制御

Material type: 文書・図像類

Author: 安井, 誠一郎ほか

Publisher: 愛知工業大学

Publication date: 2000-03-31

Material Format: Digital

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Note (General)：: Positioning problem of solid object is happened at the last step of material handling when we let the object reach for goal point. In the material han...

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Material Type: 文書・図像類
Title: 双腕マニピュレータの環境学習制御
Author/Editor: 安井, 誠一郎
安藤, 英由樹
宮田, 郁子
洪, 性寛
平松, 誠治
加藤, 厚生
Author Heading: 安井, 誠一郎
安藤, 英由樹
宮田, 郁子
洪, 性寛
平松, 誠治
加藤, 厚生
Publication, Distribution, etc.: 愛知工業大学
Publication Date: 2000-03-31
Publication Date (W3CDTF): 2000-03-31
Alternative Title: ソウワンマニピュレータノカンキョウガクシュウセイギョ
Learning Environment Control with Dual Armed Manipulator
Periodical title: 愛知工業大学研究報告. B, 専門関係論文集 = Bulletin of Aichi Institute of Technology. Part B
No. or year of volume/issue: 35
Volume: 35
Pages: 7-13
ISSN (Periodical Title): ISSN : 0387-0812
Text Language Code: jpn
Target Audience: 一般
Note (General): Positioning problem of solid object is happened at the last step of material handling when we let the object reach for goal point. In the material handling with grasping by position-controled manipulator, the stiffness of grasping is reduced to avoid collision problem which is happened at the moment of grasping generally. However this makes the accuracy of positioning poor at the last step. In this paper, we make attention to sliding movement of an object on horizontal plane with non-linear friction which enable stable contact between the object and manipulator and report the way of positioning by sliding the object on horizontal plane with position-controled manipulator which isn't made the end efector's stiffness lower as one of solutions for collision problem. Also, we establish the characteristics equation analyzing slide movement and compare with experimental results.
identifier:http://repository.aitech.ac.jp/dspace/handle/11133/1110
Format (IMT): application/pdf
Source: http://repository.aitech.ac.jp/dspace/bitstream/11133/1110/1/%e7%b4%80%e8%a6%8135%e5%8f%b7B%28P7-13%29.pdf
http://repository.aitech.ac.jp/dspace/bitstream/11133/1110/1/%e7%b4%80%e8%a6%8135%e5%8f%b7B%28P7-13%29.pdf
Access Restrictions: 限定公開
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): 愛知工業大学 : 愛知工業大学学術情報リポジトリ