日本機械学会論文集 C編
Online ISSN : 1884-8354
Print ISSN : 0387-5024
関節トルク・速度対に基づくロボットマニピュレータのための可操作性
渡辺 哲陽
著者情報
ジャーナル フリー

74 巻 (2008) 748 号 p. 3012-3018

詳細
PDFをダウンロード (913K) 発行機関連絡先
抄録

This paper provides a new approach of manipulability for robotic manipulators. While conventional manipulability is analysis in velocity domain and can not include force effect such as gravity of link and payload, the proposing approach can include the force effect. For the purpose, an operation range is introduced. The operation range is for actuator attached with every joint of manipulator and provides generable joint torque and velocity and their relation (between generating torque/velocity and addable velocity/torque). Using the operation range, we develop a new manipulability in velocity domain, including force effect.

著者関連情報
© 社団法人日本機械学会
前の記事 次の記事
feedback
Top