書誌事項
- タイトル別名
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- Fault Detection Algorithm for Thread Fastening by Robotic Manipulator
- ロボット ニ ヨル ネジ シメ サギョウ ニ オケル イジョウ ケンシュツ アルゴリズム
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抄録
Fault detection functions of a robotic manipulator are very useful for factory automation. All production has the possibility to fail due to unexpected accidents. To reduce the fatigue of human workers, small errors automatically should be corrected by a robot system. In this paper, an external thread fastening task by a robotic manipulator is investigated. To discriminate the four states of a task, linear support vector machine methods with two feature parameters are introduced. One is the estimated insertion length, and the other is the maximum reaction force. The effectiveness of the proposed algorithm is confirmed through an experiment and recognition examination.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 30 (8), 804-812, 2012
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679704318208
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- NII論文ID
- 10031120467
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 024039652
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可