内力センサを用いた冗長パラレルマニピュレータの制御手法について
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| Published in | 日本機械学会論文集 C編 Vol. 71; no. 701; pp. 185 - 192 |
|---|---|
| Main Authors | , , |
| Format | Journal Article |
| Language | Japanese |
| Published |
一般社団法人 日本機械学会
01.01.2005
|
| Online Access | Get full text |
| ISSN | 0387-5024 1884-8354 |
| DOI | 10.1299/kikaic.71.185 |
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| Author | 三村, 宣治 佐谷, 明映 小野寺, 良二 |
|---|---|
| Author_xml | – sequence: 1 fullname: 佐谷, 明映 organization: 本田技研工業 (株) – sequence: 1 fullname: 小野寺, 良二 organization: 新潟大学工学部 – sequence: 1 fullname: 三村, 宣治 organization: 新潟大学工学部 |
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| References | (12) M. T. Mason and J. K. Salisbury, Robot Hands and the Mechanics of Manipulation, The MIT Press, 1985. (11) 津坂祐司・福泉武史・井上博允, パラレルマニピュレータの設計と機構特性, 日本ロボット学会誌, Vol.5, No.3, pp.180-187, 1987. (8) T. Ropponen and Y. Nakamura, Singularity-Free Parametrization and Performance Analysis of Actuation Redundancy, Proc. IEEE Robotics an Automation, pp.806-811, 1990. (3) J. P. Merlet, Singular Configurations of Parallel Manipulators and Grassmann Geometry, Int. J. of Robotics Research, Vol.8, No.5 pp.45-56, 1989. (1) 新井健生・小関義彦・他3名, 可変構造型パラレルメカニズム, 日本ロボット学会誌, Vol.22, No.1, pp.140-147, 2004. (2) 太田祐介・稲垣淑彦・米田完・広瀬茂男, 出力均質性の高いパラレルメカニズムを利用した省自由度歩行ロボットの研究, 日本ロボット学会誌, Vol.18, No.1, pp.66-74, 2000. (4) C. Gosselin and J. Angeles, Singularity Analysis of Closed-Loop Kinematic Chain, IEEE Trans. on Robotics and Automation, Vol. 6 No. 3, pp.281-290, 1990. (9) V. R. Kumar and J. F. Gardner, Kinematics of Redundantly Actuated Closed Kinematic Chains, Proc.ICAR '89 pp.488-512, 1989. (5) 内山勝, パラレルマニピュレータの機構と特性, 日本ロボット学会誌, Vol.10, No.6, pp.715-720, 1992. (10) 中村仁彦, 閉リンクロボットのダイナミクス計算法と駆動冗長化の最適化, 計測時同制御学会論文集, Vol.25, No.5, PP.600-607, 1989. (13) 三村宣治, 電動6軸パラレルリンクマニピュレータとその応用, 日本機械学会論文集 (C編), 62巻, 597号, PP.1866-1871, 1996. (6) F. Pierrot, M. Uchiyama, P. Dauchez and A. Fournier, A New Design of a 6-DOF Parallel Robot, J. of Robotics and Mechatronics, Vol.2, No.4, pp.308-315, 1990. (7) R. Stoughton and T. Arai, “Kinematics Optimization of a Parallel Link Manipulator, ” 第9回日本ロボット学会学術講演会予稿集, pp.69-70, 1991. |
| References_xml | – reference: (6) F. Pierrot, M. Uchiyama, P. Dauchez and A. Fournier, A New Design of a 6-DOF Parallel Robot, J. of Robotics and Mechatronics, Vol.2, No.4, pp.308-315, 1990. – reference: (9) V. R. Kumar and J. F. Gardner, Kinematics of Redundantly Actuated Closed Kinematic Chains, Proc.ICAR '89 pp.488-512, 1989. – reference: (5) 内山勝, パラレルマニピュレータの機構と特性, 日本ロボット学会誌, Vol.10, No.6, pp.715-720, 1992. – reference: (4) C. Gosselin and J. Angeles, Singularity Analysis of Closed-Loop Kinematic Chain, IEEE Trans. on Robotics and Automation, Vol. 6 No. 3, pp.281-290, 1990. – reference: (3) J. P. Merlet, Singular Configurations of Parallel Manipulators and Grassmann Geometry, Int. J. of Robotics Research, Vol.8, No.5 pp.45-56, 1989. – reference: (10) 中村仁彦, 閉リンクロボットのダイナミクス計算法と駆動冗長化の最適化, 計測時同制御学会論文集, Vol.25, No.5, PP.600-607, 1989. – reference: (8) T. Ropponen and Y. Nakamura, Singularity-Free Parametrization and Performance Analysis of Actuation Redundancy, Proc. IEEE Robotics an Automation, pp.806-811, 1990. – reference: (11) 津坂祐司・福泉武史・井上博允, パラレルマニピュレータの設計と機構特性, 日本ロボット学会誌, Vol.5, No.3, pp.180-187, 1987. – reference: (1) 新井健生・小関義彦・他3名, 可変構造型パラレルメカニズム, 日本ロボット学会誌, Vol.22, No.1, pp.140-147, 2004. – reference: (2) 太田祐介・稲垣淑彦・米田完・広瀬茂男, 出力均質性の高いパラレルメカニズムを利用した省自由度歩行ロボットの研究, 日本ロボット学会誌, Vol.18, No.1, pp.66-74, 2000. – reference: (13) 三村宣治, 電動6軸パラレルリンクマニピュレータとその応用, 日本機械学会論文集 (C編), 62巻, 597号, PP.1866-1871, 1996. – reference: (7) R. Stoughton and T. Arai, “Kinematics Optimization of a Parallel Link Manipulator, ” 第9回日本ロボット学会学術講演会予稿集, pp.69-70, 1991. – reference: (12) M. T. Mason and J. K. Salisbury, Robot Hands and the Mechanics of Manipulation, The MIT Press, 1985. |
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| Title | 内力センサを用いた冗長パラレルマニピュレータの制御手法について |
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