書誌事項
- タイトル別名
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- Coordinated Compliant Motion Control of Manipulator-Positioner Systems without Using a Workpiece Geometric Model.
- ワークピース ノ キカ モデル オ ヒツヨウ ト シナイ マニピュレータ ポジショナー システム ノ コウソク ウンドウ セイギョ
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抄録
Coordinated compliant motion of two robotic devices, i.e., a manipulator-positioner system, can introduce greater flexibility and dexterity into manufacturing and improve the productivity of their processes. This paper addresses the coordinated compliant motion control of a manipulator-positioner system without using a geometric model of a workpiece. Dynamics and control of manipulators under time-dependent holonomic constraints are studied by formulating coordinated compliant motion of manipulator-positioner systems as constrained motion of a manipulator under geometric end-effector constraints imposed by a positioner. A virtual constraint plane is introduced to prescribe a desired position trajectory of an end-effector of a manipulator. A compliant motion control scheme without using a geometric model of a workpiece is realized by fusing the measurements of the articular displacements and velocities of a manipulator and a positioner and the constraint force of an end-effector of a manipulator. A numerical simulation and an experiment for coordinated contour-following tasks are conducted to demonstrate the feasibility of the proposed compliant motion control scheme without using a workpiece geometric model.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 17 (1), 101-109, 1999
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679703933056
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- NII論文ID
- 10002865410
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 3087114
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可