Analysis and planning of manipulation using the theory of polyhedral convex cones 凸多面錐理論を用いたマニピュレーションの解析と計画

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Author

    • 平井, 慎一 ヒライ, シンイチ

Bibliographic Information

Title

Analysis and planning of manipulation using the theory of polyhedral convex cones

Other Title

凸多面錐理論を用いたマニピュレーションの解析と計画

Author

平井, 慎一

Author(Another name)

ヒライ, シンイチ

University

京都大学

Types of degree

工学博士

Grant ID

甲第4811号

Degree year

1991-03-23

Note and Description

博士論文

本文データは平成22年度国立国会図書館の学位論文(博士)のデジタル化実施により作成された画像ファイルを基にpdf変換したものである

Table of Contents

  1. 論文目録 / (0001.jp2)
  2. Contents / p2 (0005.jp2)
  3. 1 Introduction / p1 (0007.jp2)
  4. 1.1 Example / p3 (0008.jp2)
  5. 1.2 Previous Work / p7 (0010.jp2)
  6. 2 Kinematics and Statics of Manipulation Using the Theory of Polyhedral Convex Cones / p9 (0011.jp2)
  7. 2.1 Introduction / p9 (0011.jp2)
  8. 2.2 Formulation of Unidirectional Constraints / p10 (0012.jp2)
  9. 2.3 Manipulation Problems / p14 (0014.jp2)
  10. 2.4 Theory of Polyhedral Convex Cones / p17 (0015.jp2)
  11. 2.5 Methods for Solving the Inequality Problems / p23 (0018.jp2)
  12. 2.6 Solving the Manipulation Problems / p25 (0019.jp2)
  13. 2.7 Numerical Example / p29 (0021.jp2)
  14. 2.8 Converting Forms of Polyhedral Convex Cones / p32 (0023.jp2)
  15. 2.9 Concluding Remarks / p39 (0026.jp2)
  16. 3 Global Representation of Assembly Processes Using Contact State Graphs / p45 (0029.jp2)
  17. 3.1 Introduction / p45 (0029.jp2)
  18. 3.2 Contact State Graphs / p46 (0030.jp2)
  19. 3.3 Automatic Generation of Contact State Graphs / p53 (0033.jp2)
  20. 3.4 Implementation / p58 (0036.jp2)
  21. 3.5 Concluding Remarks / p63 (0038.jp2)
  22. 4 A Model-Based Approach to the Recognition of Asembly Process State Using the Theory of Polyhedral Convex Cones / p67 (0040.jp2)
  23. 4.1 Introduction / p67 (0040.jp2)
  24. 4.2 Symbolic Representation of Assembly Processes / p68 (0041.jp2)
  25. 4.3 Kinematic and Static Modeling Using Polyhedral Convex Cones / p69 (0041.jp2)
  26. 4.4 Contact State Classifiers / p72 (0043.jp2)
  27. 4.5 Minimum Groups of Contact State Classifiers / p74 (0044.jp2)
  28. 4.6 Computation of Measurement Sets / p79 (0046.jp2)
  29. 4.7 Implementation / p83 (0048.jp2)
  30. 4.8 Concluding Remarks / p87 (0050.jp2)
  31. 5 Concluding Remarks / p92 (0053.jp2)
7access

Codes

  • NII Article ID (NAID)
    500000073899
  • NII Author ID (NRID)
    • 8000000074096
  • DOI(NDL)
  • Text Lang
    • eng
  • NDLBibID
    • 000000238213
  • Source
    • Institutional Repository
    • NDL ONLINE
    • NDL Digital Collections
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