Control of a Macro-Micro Robot System Using Manipulability of the Micro Robot
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概要
- 論文の詳細を見る
A 3'DOF robot finger is fixed to the end-effector of a 6'DOF robot arm to construct a redundant macro-micro robot system that is able to emulate the finger-arm system of a human being. However, determining joint angles and velocities of a redundant robot system in a natural way remains a difficult issue. This paper describes a method to control the system so as to generate common motions emulating the hand-arm movement of a human. To achieve this purpose, the finger is primarily supposed to complete delicate local motions while the arm moves to assist the finger when the manipulability of the finger is too low and the system is about to miss the desired target. The effectiveness on motion generation and the relation between kinetic energy and manipulability by using the proposed method has been experimentally demonstrated and discussed.
- 一般社団法人日本機械学会の論文
- 2006-09-15
著者
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Huang Jian
Department Of Phytochemistry Shenyang Pharmaceutical University
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Huang Jian
Department Of Mechanical Engineering Graduate School Of Engineering Yokohama National University
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Huang Jian
Department Of Hematology The First Affiliated Hospital College Of Medicine Zhejiang University
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QUAN Bui
Department of Mechanical Engineering, Graduate School of Engineering, Yokohama National University
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HARADA Minoru
Department of Mechanical Engineering, Graduate School of Engineering, Yokohama National University
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YABUTA Tetsuro
Department of Mechanical Engineering, Graduate School of Engineering, Yokohama National University
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Quan Bui
Department Of Mechanical Engineering Graduate School Of Engineering Yokohama National University
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Yabuta Tetsuro
Department Of Mechanical Engineering Graduate School Of Engineering Yokohama National University
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Harada Minoru
Department Of Mechanical Engineering Graduate School Of Engineering Yokohama National University
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