書誌事項
- タイトル別名
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- Determination of Action Points in Tumbling Operation by a Robot
抄録
<p>Tumbling operation is useful to transport a large or heavy object. We develop twin arm robot for the purpose of tumbling operation on massive rock. In order to operate the object by the robot, it is necessary to determine the position of the action points. In this paper, a method of determining the action points is proposed. First, equations and constraints on tumbling force and moment are derived. Then, an objective function related to the force is set, and determination of the action points is solved as a nonlinear optimization problem. Then, we explain the composition of the constructed algorithm. Finally the usefulness of the algorithm is shown by a numerical example.</p>
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2017 (0), 1P2-A05-, 2017
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001205941013120
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- NII論文ID
- 130006220623
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可