Mechanism and control of redundant manipulators 冗長マニピュレータの機構と制御

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Author

    • 馬, 書根 マー, シュケン

Bibliographic Information

Title

Mechanism and control of redundant manipulators

Other Title

冗長マニピュレータの機構と制御

Author

馬, 書根

Author(Another name)

マー, シュケン

University

東京工業大学

Types of degree

工学博士

Grant ID

甲第2278号

Degree year

1991-03-26

Note and Description

博士論文

Table of Contents

  1. 論文目録 / (0002.jp2)
  2. Contents / p1 (0005.jp2)
  3. 1 Introduction / p1 (0009.jp2)
  4. 1.1 Introduction / p2 (0010.jp2)
  5. 1.2 Outline of This Dissertation / p3 (0011.jp2)
  6. 2 Conventional Researches On RMs / p5 (0013.jp2)
  7. 2.1 Introduction / p6 (0014.jp2)
  8. 2.2 Mechanisms / p6 (0014.jp2)
  9. 2.3 Control Techniques / p17 (0025.jp2)
  10. 2.4 Summary / p23 (0031.jp2)
  11. 3 New Mechanisms Of RMs / p25 (0033.jp2)
  12. 3.1 Introduction / p26 (0034.jp2)
  13. 3.2 OL Joint (Offset Linear-driven Joint) / p27 (0035.jp2)
  14. 3.3 CT Arm (Coupled Tendon-driven Arm) / p31 (0039.jp2)
  15. 3.4 Powerful Base Slider / p41 (0049.jp2)
  16. 3.5 Summary / p45 (0053.jp2)
  17. 4 Control Methods Based On Local Torque Optimization / p47 (0054.jp2)
  18. 4.1 Introduction / p48 (0055.jp2)
  19. 4.2 DSTO(Damped Squared-Torque Optimization)and DNTO(Damped Nullspace-Torque Optimization) / p48 (0055.jp2)
  20. 4.3 RDC(Redundancy Decomposition Control) / p58 (0065.jp2)
  21. 4.4 Geometric Interpretation of the Introduced Local Algorithms / p68 (0075.jp2)
  22. 4.5 Summary / p71 (0078.jp2)
  23. 5 Control Of CT Arm / p77 (0083.jp2)
  24. 5.1 Introduction / p78 (0084.jp2)
  25. 5.2 Basic Formulation / p78 (0084.jp2)
  26. 5.3 Optimal Tendon Traction Forces Based on Statics / p82 (0088.jp2)
  27. 5.4 Optimal Static Posture of CT Arm and its Tendon Traction Forces / p84 (0090.jp2)
  28. 5.5 Optimal Control of CT Arm with Consideration of Dynamics / p86 (0092.jp2)
  29. 5.6 Computer Simulation / p92 (0098.jp2)
  30. 5.7 Summary / p100 (0106.jp2)
  31. 6 Moray Drive For Multijoint RMs With Powerful Base Slider / p107 (0112.jp2)
  32. 6.1 Introduction / p108 (0113.jp2)
  33. 6.2 Basic Trajectory of Moray Drive in View of Kinematics / p108 (0113.jp2)
  34. 6.3 Basic Trajectory of Moray Drive in View of Dynamics / p113 (0118.jp2)
  35. 6.4 Summary / p121 (0126.jp2)
  36. 7 Conclusions / p125 (0130.jp2)
  37. 7.1 Conclusion / p126 (0131.jp2)
  38. 7.2 Further Research Topics / p128 (0133.jp2)
  39. A Derivation Of Equation 4.5 / p131 (0135.jp2)
  40. B Iterations For Derivation Of Weighting Factors〔数式〕And〔数式〕 / p133 (0136.jp2)
  41. C Applications Of Approach RDC / p135 (0138.jp2)
  42. C.1 Obstacle Avoidance of RMs with Consideration of Dynamics / p135 (0138.jp2)
  43. C.2 Singularity Avoidance of RMs with Consideration of Dynamics / p140 (0143.jp2)
  44. C.3 Working Properties of Underwater Multijoint RMs / p143 (0146.jp2)
  45. D Derivation Of Inertia Matrix[化学式] / p145 (0148.jp2)
  46. D.1 In Case of Soft Gripper Mechanism / p145 (0148.jp2)
  47. D.2 In Case of CT Arm Type1 / p146 (0149.jp2)
  48. D.3 In Case of CT Arm Type2 / p148 (0151.jp2)
  49. Bibliography / p151 (0153.jp2)
  50. Publications / p159 (0161.jp2)
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Codes

  • NII Article ID (NAID)
    500000077953
  • NII Author ID (NRID)
    • 8000000078157
  • DOI(NDL)
  • NDLBibID
    • 000000242267
  • Source
    • NDL ONLINE
    • NDL Digital Collections

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