特異姿勢付近における2リンクロボットアームの動力学的性質に関する考察
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| Published in | システム制御情報学会論文誌 Vol. 28; no. 9; pp. 377 - 383 |
|---|---|
| Main Authors | , , |
| Format | Journal Article |
| Language | Japanese |
| Published |
一般社団法人 システム制御情報学会
2015
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| Online Access | Get full text |
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| Author | 万, 象隆 浦久保, 孝光 真下, 智昭 |
|---|---|
| Author_xml | – sequence: 1 fullname: 浦久保, 孝光 organization: 神戸大学 大学院 システム情報学研究科 – sequence: 2 fullname: 万, 象隆 organization: 神戸大学 大学院 システム情報学研究科 – sequence: 3 fullname: 真下, 智昭 organization: 豊橋技術科学大学 エレクトロニクス先端融合研究所 |
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| Copyright | 2015 システム制御情報学会 |
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| DOI | 10.5687/iscie.28.377 |
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| EndPage | 383 |
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| References | [1] V. M. Zatsiorsky: Kinematics of Human Motion, Human Kinematics (1998) [14] C.-Y. Wang, W. K. Timoszyk and J. E. Bobrow: Payload maximization for open chained manipulators:Finding weightlifting motions for a Puma 762 Robot; IEEE Trans. on Robotics and Automation, pp. 218-224 (2001) [7] Y. Nakamura and H. Hanafusa: Inverse kinematic solutions with singularity robustness for robot manipulator control; ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 108, No. 3, pp. 163-171 (1986) [10] K. H. Hunt: Special configurations of robot-arms via screw theory; Robotica, Vol. 4, Issue 3, pp. 171-179 (1986) [15] H. Asada: A geometrical representation of manipulator dynamics and its application to arm design; ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 105, No. 3, pp. 131-142 (1983) [2] T. Yoshikawa: Manipulability of robotic mechanisms; The International Journal of Robotics Research, Vol. 4, No. 2, pp. 3-9 (1985) [11] S. B. Nokleby and R. P. Podhorodeski: Pose optimization of serial manipulators using knowledge of their velocity-degenerate (singular) configurations; Journal of Robotic Systems, Vol. 20, No. 5, pp. 239-249 (2003) [8] J. Lenarcic and L. Zlajpah: Control considerations on minimum joint torque motion; Lecture Notes in Control and Information Sciences, Vol. 200, pp. 40-49 (1994) [9] V. Kumar and J. F. Grandner: Kinematics of redundantly actuated closed chains; IEEE Trans. on Robotics and Automation, Vol. 6, No. 2, pp. 269-274 (1990) [18] T. Urakubo, T. Mashimo and T. Kanade: Efficient pulling motion of a two-link robot arm near singular configuration; Proc. of IEEE / RSJ International Conference on Intelligent Robots and Systems, pp. 1372-1377 (2010) [3] L. Nielsen, C. Canudas de Wit and P. Hagander: Controllability issues of robots in singular configurations; Proc. of IEEE International Conference on Robotics and Automation, pp. 2210-2215 (1991) [16] T. Yoshikawa: Dynamic manipulability of robot manipulators; Proc. of IEEE International Conference on Robotics and Automation, pp. 1033-1038 (1985) [6] D. N. Nenchev, Y. Tsumaki and M. Uchiyama:Singularity-consistent parameterization of robot motion and control; The International Journal of Robotics Research, Vol. 19, No. 2, pp. 159-182 (2000) [12] K. L. Brown: Design and Analysis of Robots that Perform Dynamic Tasks Using Internal Body Motion; Ph.D. Thesis, MIT (1994) [19] T. Urakubo, H. Yoshioka, T. Mashimo and X. Wan: Experimental study on efficient use of singular configuration in pulling heavy objects with two-link robot arm; Proc. of IEEE International Conference on Robotics and Automation, pp. 4582-4587 (2014) [5] J. Kieffer: Differential analysis of bifurcations and isolated singularities for robots and mechanisms; IEEE Trans. on Robotics and Automation, Vol. 10, No. 1, pp.1-10 (1994) [13] M. T. Rosenstein and R. A. Grupen: Velocity dependent dynamic manipulability; Proc. of IEEE International Conference on Robotics and Automation, pp. 2424-2429 (2002) [4] M. Sampei and K. Furuta: Robot control in the neighborhood of singular points; IEEE Journal of Robotics and Automation, Vol. 4, No. 3, pp. 303-309 (1988) [17] T. Urakubo, T. Mashimo and T. Kanade: Optimal placement of a two-link manipulator for door opening; Proc. of IEEE / RSJ International Conference on Intelligent Robots and Systems, pp. 1446-1451 (2009) |
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| Title | 特異姿勢付近における2リンクロボットアームの動力学的性質に関する考察 |
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