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多指ハンドにより把持された物体の位置と姿勢の制御
https://doi.org/10.24517/00050015
https://doi.org/10.24517/0005001541b94bba-0239-427b-925e-523b893e4ecd
名前 / ファイル | ライセンス | アクション |
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TE-PR-KAMIYA-Y-161.pdf (344.2 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2018-06-15 | |||||
タイトル | ||||||
タイトル | 多指ハンドにより把持された物体の位置と姿勢の制御 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Position and Posture Control of Work Grasped by Multi Fingers | |||||
言語 | ||||||
言語 | jpn | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
ID登録 | ||||||
ID登録 | 10.24517/00050015 | |||||
ID登録タイプ | JaLC | |||||
著者 |
高山, 裕規
× 高山, 裕規× 神谷, 好承× 関, 啓明× 疋津, 正利 |
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著者別表示 |
Takayama, Yuki
× Takayama, Yuki× Kamiya, Yoshitsugu× Seki, Hiroaki× Hikizu, Masatoshi |
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提供者所属 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 金沢大学理工研究域機械工学系 | |||||
書誌情報 |
精密工学会学術講演会講演論文集 en : 2005 JSPE Autumn Meeting 巻 2005 Autumn, 号 B74, p. 161-162, 発行日 2005 |
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NCID | ||||||
識別子タイプ | NCID | |||||
関連識別子 | BA90159927 | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.11522/pscjspe.2005A.0.161.0 | |||||
出版者 | ||||||
出版者 | 精密工学会 = The Japan Society for Precision Engineering | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | We consider position and posture control of work grasped by three–fingered robot hand whose finger has two degree of freedom. As the first step in this study, this paper proposes the method of planning finger′s operation which is independent of a work shape. When the robot hand grasps a work, its three fingertips form a triangular plane. By using this plane, in the proposal method, the finger′s operation which controls the work is extrapolated from the finger′s operation which controls the plane. We derive a relationship between the motion of the fingers and the triangular plane and investigate effectiveness of the proposed method in simulations. 本研究では2自由度3本指ハンドによる物体の位置·姿勢制御を対象とする。操作対象物体を把持したとき、ハンドは3つの指先が存在する特定の平面を形成する。この平面に着目すると、ハンドによる物体の操作を平面の操作として扱うことができると考えられる。そこで本研究ではこれを利用して、物体操作時に形状などの複雑な情報を必要としない指先動作計画法を提案し、シミュレータによる検証を行った。 | |||||
内容記述 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 出版者照会後に全文公開 | |||||
権利 | ||||||
権利情報 | Copyright © The Japan Society for Precision Engineering | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | https://www.jstage.jst.go.jp/browse/pscjspe/-char/ja/ | |||||
関連名称 | https://www.jstage.jst.go.jp/browse/pscjspe/-char/ja/ | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | http://www.jspe.or.jp/ | |||||
関連名称 | http://www.jspe.or.jp/ |