2003年6月
2本指ロボットを用いたセンソリーフィードバックによる動的安定把持および姿勢制御
システム制御情報学会論文誌
- ,
- ,
- 巻
- 16
- 号
- 6
- 開始ページ
- 253
- 終了ページ
- 259
- 記述言語
- 日本語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.5687/iscie.16.253
- 出版者・発行元
- 一般社団法人 システム制御情報学会
This paper firstly shows Lagrange's equation of a pair of robot fingers with hemishperical tips pinching a rigid object under four geometric constraints. In derivation of the equation, it is assumed that the rigid object has two parallel flat surfaces, motion of the overall system is confined to a horizontal plane and the effect of gravity is ignored. It is then shown that there exists a sensory feedback signal not only for secure pinching with the desired contact force but also for control the object orientation at a specified rotational angle. It is also shown that the method of computer simulation based on the non-linear differential equation with four geometric constraints is discussed together with presenting some computational results.
- リンク情報
- ID情報
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- DOI : 10.5687/iscie.16.253
- ISSN : 1342-5668
- J-Global ID : 200902276625279566
- CiNii Articles ID : 10011340068
- CiNii Books ID : AN1013280X