物体間の接触の安定性に関する評価

• 余 永

  鹿児島大学工学部

• 吉川 恒夫

  京都大学大学院工学研究科

書誌事項

タイトル別名

• Evaluation of Contact Stability between Objects.
• ブッタイ カン ノ セッショク ノ アンテイセイ ニ カンスル ヒョウカ

抄録

In assembly operations, there are various constraint states while a moving object is in contact with a fixed object. For different constraint states, the existent regions of contacting forces, geometrical constraints, possible object displacements, which can be expressed by polyhedral convex cones respectively, are different. We consider that the sizes of these regions are important characteristic of contact stability for planning assembly operations. This paper proposes an approach that can evaluate the sizes of these regions. Based on this approach, the magnitudes of form constraint region, applicable equilibrating force region and admissible displacement region are defined to evaluate the contact stability of constraint state. Then, their applications to planning of assembly tasks are discussed.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 18 (7), 1026-1033, 2000

  一般社団法人 日本ロボット学会

キーワード

• Contact Stability
• Magnitude of Form Constraint Region
• Magnitude of Applicable Equilibrating Force Region
• Magnitude of Admissible Displacement Region
• Assembly Planning

詳細情報

• CRID: 1390282679702327296
• NII論文ID: 10007545361
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.18.1026
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 5531334
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I5531334
• 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