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Handling of a flexible object by robots ロボットによる柔軟対象物のハンドリング

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著者

    • 湯川, 俊浩 ユカワ, トシヒロ

書誌事項

タイトル

Handling of a flexible object by robots

タイトル別名

ロボットによる柔軟対象物のハンドリング

著者名

湯川, 俊浩

著者別名

ユカワ, トシヒロ

学位授与大学

東北大学

取得学位

博士 (工学)

学位授与番号

甲第5595号

学位授与年月日

1996-03-26

注記・抄録

博士論文

目次

  1. Contents / p1 (0004.jp2)
  2. 1 Introduction / p3 (0013.jp2)
  3. 1.1 Motivation / p3 (0013.jp2)
  4. 1.2 Historical background / p5 (0015.jp2)
  5. 1.3 Abstract / p6 (0016.jp2)
  6. 1.4 Purpose / p7 (0017.jp2)
  7. 1.5 Outline / p9 (0019.jp2)
  8. 1.6 Problem formulation / p10 (0020.jp2)
  9. 2 Modeling of Robot and Object / p12 (0022.jp2)
  10. 2.1 Equation of motion of the robot / p13 (0023.jp2)
  11. 2.2 Modeling of the flexible object(1-D vibration space) / p16 (0026.jp2)
  12. 2.3 Modeling of the flexible object(2-D vibration space) / p22 (0032.jp2)
  13. 3 Identification of Flexible Object / p31 (0041.jp2)
  14. 3.1 Problem formulation / p31 (0041.jp2)
  15. 3.2 Observation of the object / p32 (0042.jp2)
  16. 3.3 Following up the object / p34 (0044.jp2)
  17. 3.4 Identification of the object / p36 (0046.jp2)
  18. 3.5 Simulation example and summary / p39 (0049.jp2)
  19. 4 Interactive Handling System / p43 (0053.jp2)
  20. 4.1 Problem formulation / p43 (0053.jp2)
  21. 4.2 Constrained force in the handling position / p44 (0054.jp2)
  22. 4.3 Constraint force relationship / p46 (0056.jp2)
  23. 4.4 Algorithm to calculate the interaction force / p47 (0057.jp2)
  24. 4.5 Handling system satisfying under contact and non-contact conditions / p49 (0059.jp2)
  25. 4.6 Simulation example and summary / p51 (0061.jp2)
  26. 5 Cooperative Handling System / p56 (0066.jp2)
  27. 5.1 Problem formulation / p56 (0066.jp2)
  28. 5.2 Combined model / p56 (0066.jp2)
  29. 5.3 Combined model at the equilibrium point / p59 (0069.jp2)
  30. 5.4 Stability at the equilibrium point / p62 (0072.jp2)
  31. 6 Duality of Handling Model / p64 (0074.jp2)
  32. 6.1 Combined model / p64 (0074.jp2)
  33. 6.2 Analysis of the constraint force / p67 (0077.jp2)
  34. 6.3 Duality of simulation / p72 (0082.jp2)
  35. 7 Controllability of Flexible Object / p80 (0090.jp2)
  36. 7.1 Constraint condition / p80 (0090.jp2)
  37. 7.2 Reachability condition / p82 (0092.jp2)
  38. 8 Cooperative Handling Design / p84 (0094.jp2)
  39. 8.1 Problem formulation / p84 (0094.jp2)
  40. 8.2 Coordinates transformation / p86 (0096.jp2)
  41. 8.3 Stabilization at the intermediate point of the object / p87 (0097.jp2)
  42. 8.4 Stability at the intermediate point of the object / p88 (0098.jp2)
  43. 8.5 Robustness of the control system / p90 (0100.jp2)
  44. 8.6 Simulation example and summary / p92 (0102.jp2)
  45. 9 Path Planning / p108 (0118.jp2)
  46. 9.1 Combined model for path planning / p108 (0118.jp2)
  47. 9.2 Path planning for minimizing the internal force / p109 (0119.jp2)
  48. 9.3 Simulation example and summary / p112 (0122.jp2)
  49. 10 Conclusions / p114 (0124.jp2)
  50. A Preparation for Experiment / p116 (0126.jp2)
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各種コード

  • NII論文ID(NAID)
    500000134845
  • NII著者ID(NRID)
    • 8000000973927
  • DOI(NDL)
  • NDL書誌ID
    • 000000299159
  • データ提供元
    • NDL-OPAC
    • NDLデジタルコレクション
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