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- 渡辺 哲陽
- 金沢大学理工研究域
書誌事項
- タイトル別名
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- Operation Range based Manipulability Measures for Grasping System
- サドウ ハンイ ニ モトズク ハジ システム カ ソウサセイ シヒョウ
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抄録
This paper presents a novel approach for manipulability for grasping systems. We present a new manipulability measure to evaluate how much easily the robot manipulates the grasped object, simultaneously keeping stable grasp. For the purpose, we use operation range. The operation range is for actuator attached to every joint of robot and provides generable joint torque and velocity and their relation (between generating torque/velocity and actually usable velocity/torque). While we introduced a manipulability measure using the operation range in our previous paper, it was for a limited class due to large computational effort and we could not evaluate whole space of object velocity and could not consider whole space of external wrench. In this paper, we propose new manipulability measures which can be derived simply and can evaluate whole space of object velocity, taking the effect of whole external wrench into consideration.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 28 (8), 923-929, 2010
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679701548544
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- NII論文ID
- 10027464986
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 10875107
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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
- IRDB
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可