日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
論文
冗長マニピュレータの動的形状変更可操作性
—7リンク冗長マニピュレータ(PA10)の評価—
見浪 護小林 洋祐松野 隆幸矢納 陽
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2016 年 34 巻 4 号 p. 272-279

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In this research, a new concept named Dynamic Reconfiguration Manipulability (DRM) is proposed, gauging dynamical shape-changeability by using redundancy while a hand task is given primarily. Helping optimize designing and controlling robots, the DRM represents simultaneously how much acceleration each intermediate link can be generated and what direction the acceleration can be realized by normalized torque inputs. We have confirmed appropriateness and usefulness of the DRM by applying it to redundant manipulator PA10 produced by Mitsubishi Heavy Industries Ltd.

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© 2016 日本ロボット学会
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