2A2-A15 グラスプレス・マニピュレーションにおける接触力の準静力学的解析  [in Japanese] 2A2-A15 Quasi-static Analysis of Contact Forces in Graspless Manipulation  [in Japanese]

Search this Article

Author(s)

Abstract

In quasi-static manipulation, such as graspless manipulation, contact forces are different according to the situation whether a manipulated object is stationary or moving. This paper presents quasi-static analysis of contact forces in graspless manipulation, as improvement of our previous study on robustness measure of graspless manipulation. Our previous analysis uses a modified constraint on static friction, which is originally derived by Omata et al. in static analysis for power grasps. However, when we adapt the constraint to quasi-statics, considering quasi-static motion of objects, particularly sliding contact points and kinetic friction, is not appropriate. Thus, we improve our quasi-static analysis method, and evaluate robustness of graspless manipulation more accurately than our previous work.

Journal

  • ロボティクス・メカトロニクス講演会講演概要集   [List of Volumes]

    ロボティクス・メカトロニクス講演会講演概要集 2009, "2A2-A15(1)"-"2A2-A15(4)", 2009-05-25  [Table of Contents]

    The Japan Society of Mechanical Engineers

Codes

  • NII Article ID (NAID)
    110008698236
  • NII NACSIS-CAT ID (NCID)
    AA11902933
  • Text Lang
    JPN
  • Data Source
    NII-ELS 
Page Top