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Volume 4, Issue 1
Displaying 1-18 of 18 articles from this issue
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Yoshihiko NAKAMURA1986 Volume 4 Issue 1 Pages 3-8
Published: February 15, 1986
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSThe joint torque required for a robot manipulator to apply force on an object has been computed so far by using the transposed Jacobian matrix. However, it has no guarantee for actual applicability of the force because to generate the joint torque is merely a necessary condition for it.
In this paper, the statics of robot manipulators is to be analyzed. The concept of the manipulation force is introduced firstly. The manipulation force can be considered the generalized force corresponding to the manipulation variable when it is regarded as the generalized coordinate system describing the position and the orientation of the end effector. The relationship between the joint torque and the manipulation force is represented as the dual system of the differential relationship between the joint variable and the manipulation variable. Based on the definition of the manipulation force, a necessary and sufficiant condition for manipulation force applicability of robot manipulators will be presented and proved. The condition holds even for redundant manipulators and manipulators in singular state.View full abstractDownload PDF (2701K) -
Takahiro MASUDA, Akemi FUTAKAWA, Suguru ARIMOTO, Fumio MIYAZAKI1986 Volume 4 Issue 1 Pages 9-15
Published: February 15, 1986
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSDynamics analysis of industrial robots with a constraint (closed loop) dynamic system is often needed under the operating conditions such as incertion, deburring etc. Authors have been developing dynamic simulation programs for open loop dynamic system with arbitary consttruction of robots. Appel's method is used for description of equation of motion in these programs. Since industrial robots are often used under various constraint conditions, it is preferable to simulate robot motions under various operating conditions if the direction and degree of freedom of the constraint can be arbitrarily selected in programs.
In this respect, this paper first refers to an analytical method of closed loop dynamics inducing Lagrange multipliers to Appel's method, leading to easily extend from analysis of open-loop dynamics to that of closed one. Then, numerical analysis of robot motion are carried out under a restrict condition and the validity of this method is shown.View full abstractDownload PDF (2671K) -
[in Japanese]1986 Volume 4 Issue 1 Pages 17
Published: February 15, 1986
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSDownload PDF (167K) -
[in Japanese]1986 Volume 4 Issue 1 Pages 18
Published: February 15, 1986
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSDownload PDF (2200K) -
Junichi IKEDA1986 Volume 4 Issue 1 Pages 19-23
Published: February 15, 1986
Released on J-STAGE: August 25, 2010
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Yukio HASEGAWA1986 Volume 4 Issue 1 Pages 24-27
Published: February 15, 1986
Released on J-STAGE: August 25, 2010
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Toshio KANEKO1986 Volume 4 Issue 1 Pages 28-32
Published: February 15, 1986
Released on J-STAGE: August 25, 2010
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Souji INAGAKI1986 Volume 4 Issue 1 Pages 33-36
Published: February 15, 1986
Released on J-STAGE: August 25, 2010
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Koji TAKAHASHI1986 Volume 4 Issue 1 Pages 37-38
Published: February 15, 1986
Released on J-STAGE: August 25, 2010
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Tamio ARAI1986 Volume 4 Issue 1 Pages 39-42
Published: February 15, 1986
Released on J-STAGE: August 25, 2010
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Japan Industrial Robot Association1986 Volume 4 Issue 1 Pages 43-46
Published: February 15, 1986
Released on J-STAGE: August 25, 2010
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1986 Volume 4 Issue 1 Pages 47-53
Published: February 15, 1986
Released on J-STAGE: August 25, 2010
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Tadashi YAMASHITA1986 Volume 4 Issue 1 Pages 60
Published: February 15, 1986
Released on J-STAGE: August 25, 2010
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Yoji UMETANI1986 Volume 4 Issue 1 Pages 61-63
Published: February 15, 1986
Released on J-STAGE: August 25, 2010
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Yukio Hasegawa1986 Volume 4 Issue 1 Pages 63-64
Published: February 15, 1986
Released on J-STAGE: August 25, 2010
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Hirochika Inoue1986 Volume 4 Issue 1 Pages 65
Published: February 15, 1986
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSDownload PDF (138K) -
Teruo Takahashi1986 Volume 4 Issue 1 Pages 66
Published: February 15, 1986
Released on J-STAGE: August 25, 2010
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Tsuneo YOSHIKAWA1986 Volume 4 Issue 1 Pages 67-68
Published: February 15, 1986
Released on J-STAGE: August 25, 2010
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