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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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
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京都大学
- Types of degree
-
工学博士
- Grant ID
-
甲第4811号
- Degree year
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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
- 論文目録 / (0001.jp2)
- Contents / p2 (0005.jp2)
- 1 Introduction / p1 (0007.jp2)
- 1.1 Example / p3 (0008.jp2)
- 1.2 Previous Work / p7 (0010.jp2)
- 2 Kinematics and Statics of Manipulation Using the Theory of Polyhedral Convex Cones / p9 (0011.jp2)
- 2.1 Introduction / p9 (0011.jp2)
- 2.2 Formulation of Unidirectional Constraints / p10 (0012.jp2)
- 2.3 Manipulation Problems / p14 (0014.jp2)
- 2.4 Theory of Polyhedral Convex Cones / p17 (0015.jp2)
- 2.5 Methods for Solving the Inequality Problems / p23 (0018.jp2)
- 2.6 Solving the Manipulation Problems / p25 (0019.jp2)
- 2.7 Numerical Example / p29 (0021.jp2)
- 2.8 Converting Forms of Polyhedral Convex Cones / p32 (0023.jp2)
- 2.9 Concluding Remarks / p39 (0026.jp2)
- 3 Global Representation of Assembly Processes Using Contact State Graphs / p45 (0029.jp2)
- 3.1 Introduction / p45 (0029.jp2)
- 3.2 Contact State Graphs / p46 (0030.jp2)
- 3.3 Automatic Generation of Contact State Graphs / p53 (0033.jp2)
- 3.4 Implementation / p58 (0036.jp2)
- 3.5 Concluding Remarks / p63 (0038.jp2)
- 4 A Model-Based Approach to the Recognition of Asembly Process State Using the Theory of Polyhedral Convex Cones / p67 (0040.jp2)
- 4.1 Introduction / p67 (0040.jp2)
- 4.2 Symbolic Representation of Assembly Processes / p68 (0041.jp2)
- 4.3 Kinematic and Static Modeling Using Polyhedral Convex Cones / p69 (0041.jp2)
- 4.4 Contact State Classifiers / p72 (0043.jp2)
- 4.5 Minimum Groups of Contact State Classifiers / p74 (0044.jp2)
- 4.6 Computation of Measurement Sets / p79 (0046.jp2)
- 4.7 Implementation / p83 (0048.jp2)
- 4.8 Concluding Remarks / p87 (0050.jp2)
- 5 Concluding Remarks / p92 (0053.jp2)