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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著者
書誌事項
- タイトル
-
Mechanism and control of redundant manipulators
- タイトル別名
-
冗長マニピュレータの機構と制御
- 著者名
-
馬, 書根
- 著者別名
-
マー, シュケン
- 学位授与大学
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東京工業大学
- 取得学位
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工学博士
- 学位授与番号
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甲第2278号
- 学位授与年月日
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1991-03-26
注記・抄録
博士論文
目次
- 論文目録 / (0002.jp2)
- Contents / p1 (0005.jp2)
- 1 Introduction / p1 (0009.jp2)
- 1.1 Introduction / p2 (0010.jp2)
- 1.2 Outline of This Dissertation / p3 (0011.jp2)
- 2 Conventional Researches On RMs / p5 (0013.jp2)
- 2.1 Introduction / p6 (0014.jp2)
- 2.2 Mechanisms / p6 (0014.jp2)
- 2.3 Control Techniques / p17 (0025.jp2)
- 2.4 Summary / p23 (0031.jp2)
- 3 New Mechanisms Of RMs / p25 (0033.jp2)
- 3.1 Introduction / p26 (0034.jp2)
- 3.2 OL Joint (Offset Linear-driven Joint) / p27 (0035.jp2)
- 3.3 CT Arm (Coupled Tendon-driven Arm) / p31 (0039.jp2)
- 3.4 Powerful Base Slider / p41 (0049.jp2)
- 3.5 Summary / p45 (0053.jp2)
- 4 Control Methods Based On Local Torque Optimization / p47 (0054.jp2)
- 4.1 Introduction / p48 (0055.jp2)
- 4.2 DSTO(Damped Squared-Torque Optimization)and DNTO(Damped Nullspace-Torque Optimization) / p48 (0055.jp2)
- 4.3 RDC(Redundancy Decomposition Control) / p58 (0065.jp2)
- 4.4 Geometric Interpretation of the Introduced Local Algorithms / p68 (0075.jp2)
- 4.5 Summary / p71 (0078.jp2)
- 5 Control Of CT Arm / p77 (0083.jp2)
- 5.1 Introduction / p78 (0084.jp2)
- 5.2 Basic Formulation / p78 (0084.jp2)
- 5.3 Optimal Tendon Traction Forces Based on Statics / p82 (0088.jp2)
- 5.4 Optimal Static Posture of CT Arm and its Tendon Traction Forces / p84 (0090.jp2)
- 5.5 Optimal Control of CT Arm with Consideration of Dynamics / p86 (0092.jp2)
- 5.6 Computer Simulation / p92 (0098.jp2)
- 5.7 Summary / p100 (0106.jp2)
- 6 Moray Drive For Multijoint RMs With Powerful Base Slider / p107 (0112.jp2)
- 6.1 Introduction / p108 (0113.jp2)
- 6.2 Basic Trajectory of Moray Drive in View of Kinematics / p108 (0113.jp2)
- 6.3 Basic Trajectory of Moray Drive in View of Dynamics / p113 (0118.jp2)
- 6.4 Summary / p121 (0126.jp2)
- 7 Conclusions / p125 (0130.jp2)
- 7.1 Conclusion / p126 (0131.jp2)
- 7.2 Further Research Topics / p128 (0133.jp2)
- A Derivation Of Equation 4.5 / p131 (0135.jp2)
- B Iterations For Derivation Of Weighting Factors〔数式〕And〔数式〕 / p133 (0136.jp2)
- C Applications Of Approach RDC / p135 (0138.jp2)
- C.1 Obstacle Avoidance of RMs with Consideration of Dynamics / p135 (0138.jp2)
- C.2 Singularity Avoidance of RMs with Consideration of Dynamics / p140 (0143.jp2)
- C.3 Working Properties of Underwater Multijoint RMs / p143 (0146.jp2)
- D Derivation Of Inertia Matrix[化学式] / p145 (0148.jp2)
- D.1 In Case of Soft Gripper Mechanism / p145 (0148.jp2)
- D.2 In Case of CT Arm Type1 / p146 (0149.jp2)
- D.3 In Case of CT Arm Type2 / p148 (0151.jp2)
- Bibliography / p151 (0153.jp2)
- Publications / p159 (0161.jp2)