伸縮柔軟物体上の複数点の間接的同時位置決め作業の実現 Indirect Simultaneous Positioning Operations of Multiple Points on Extensionally Deformable Objects

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抄録

A novel control method for the indirect positioning operation of soft deformable objects will be proposed. In some operations, multiple points on a deformable object should be positioned to the desired ones simultaneously. In addition, there exist some operations where these positioned points cannot operate directly and we have to perform these operations indirectly by controlling other points. We call these operations <i>indirect simultaneous positioning operations</i>. First, a simplified physical model of deformable textile fabrics is developed for their positioning operations. Second, the indirect positioning operations are formulated using the proposed model. Based on the linearlized model of the deformable objects, we will propose a novel control method for the indirect positioning operations with visual sensors. In this method, positioned points can be guided to the desired locations by controlling the positions of operation points. It should be noted that our control method works well even if the exact physical properties of fabrics cannot be given. Experimental results will show the validity of the proposed method.

収録刊行物

  • 日本ロボット学会誌  

    日本ロボット学会誌 17(2), 282-290, 1999-03-15 

    The Robotics Society of Japan

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被引用文献:  7件

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各種コード

  • NII論文ID(NAID)
    10002865767
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    4679182
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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