チェインドフォーム・マニピュレータの設計

• 鄭 宇眞

  韓国科学技術研究院・ロボット研究センター

• 中村 仁彦

  東京大学大学院工学系研究科

書誌事項

タイトル別名

• Design of the Chained Form Manipulator.
• チェインドフォーム マニピュレータ ノ セッケイ

抄録

Exploiting the unique features of nonholonomic systems, we have proposed and fabricated the nonholonomic manipulator which is a controllable n joint manipulator with only two actuators. In order to create its nonholonomic constraint, a special type of velocity transmission, called the nonholonomic gear, was used.<br>There are many possible alternatives of designing underactuated manipulators using the nonholonomic gear. The nonholonomic manipulator was designed focusing on the mechanical simplicity. As a result, we have faced with several problems in building a manipulator with many number of joints. In this paper, we propose the chained form manipulator which is designed to solve mechanical and mathematical problems. Presented simulation results show that the new design satisfies control simplicity.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 17 (1), 61-67, 1999

  一般社団法人 日本ロボット学会

キーワード

• Underactuated System
• Nonholonomic Constraints
• Nonlinear Control
• Robot Manipulator
• Chained Form

詳細情報

• CRID: 1390001204727218176
• NII論文ID: 10002865333
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.17.61
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 3087071
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I3087071
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可