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  1. 140 先端科学技術研究センター
  2. 14010 学術雑誌論文
  1. 0 資料タイプ別
  2. 10 学術雑誌論文
  3. 015 技術・工学

Dynamic Control of a Manipulator with Passive Joints in Operational Space

http://hdl.handle.net/2261/6852
http://hdl.handle.net/2261/6852
c5b80736-d40e-40dd-bcd6-9228f7fd6f09
名前 / ファイル ライセンス アクション
00210798.pdf 00210798.pdf (861.6 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2007-06-06
タイトル
タイトル Dynamic Control of a Manipulator with Passive Joints in Operational Space
言語
言語 eng
資源タイプ
資源 http://purl.org/coar/resource_type/c_6501
タイプ journal article
著者 Arai, Hirohiko

× Arai, Hirohiko

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Arai, Hirohiko

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Tanie, Kazuo

× Tanie, Kazuo

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Tanie, Kazuo

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Tachi, Susumu

× Tachi, Susumu

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Tachi, Susumu

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抄録
内容記述タイプ Abstract
内容記述 We present a method to control a manipulator with passive joints, which have no actuators, in operational space. The equation of motion is described in terms of operational coordinates. The coordinates are separated into active and passive components. The acceleration of the active components can be arbitrarily adjusted by using the coupling characteristics of manipulator dynamics. This method is also extended to path tracking control of a manipulator with passive joints. A desired path is geometrically specified in operational space. The position of the manipulator is controlled to follow the path. In this method, a path coordinate system based on the path is defined in operational space. The path coordinates consist of a component parallel to the path and components normal to the path. The acceleration of the components normal to the path is controlled according to feedback based on tracking error by using the dynamic coupling among the components. This in turn keeps the manipulator on the path. The effectiveness of the method is verified by experiments using a two-degree-of-freedom manipulator with a passive joint.
書誌情報 IEEE transactions on robotics and automation : a publication of the IEEE Robotics and Automation Society

巻 9, 号 1, p. 85-93, 発行日 1993-02
ISSN
収録物識別子タイプ ISSN
収録物識別子 1042296X
書誌レコードID
収録物識別子タイプ NCID
収録物識別子 AA10686140
DOI
識別子タイプ DOI
関連識別子 info:doi/10.1109/70.210798
権利
権利情報 ©1993 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
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内容記述タイプ Other
内容記述 application/pdf
日本十進分類法
主題Scheme NDC
主題 548.3
出版者
出版者 IEEE
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