能動受動混合拘束の力学

• 渡辺 哲陽

  山口大学工学部

• 原田 研介

  産業技術研究所

• 江 鐘偉

  山口大学工学部

• 吉川 恒夫

  立命館大学情報理工学部

書誌事項

タイトル別名

• Mechanics of Hybrid Active/Passive-Closure Grasps
• ノウドウ ジュドウ コンゴウ コウソク ノ リキガク

抄録

In this paper, we discuss the directions of active and passive force closures in hybrid active/passive-closure grasps. At first, we define the directions and derive the corresponding generalized force/displacement sets. Then, we show the directions of active and passive parts are orthogonal to each other. We also discuss the magnitudes of the internal forces in the manipulation of the object. In hybrid active/passive-closure grasps, there exist two kinds of magnitudes of internal forces. One is the magnitude which changes if the object moves and the geometry of the fingers changes. Such a magnitude has to be controlled. The other is the one which does not change even when the object moves. We only have to fix the joint torque component corresponding to such a magnitude. We derive the two kinds of magnitudes.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 24 (1), 131-139, 2006

  一般社団法人 日本ロボット学会

キーワード

• Active/Passive Force Closure
• Grasping
• Internal Forces

詳細情報

• CRID: 1390001204725752704
• NII論文ID: 10017172102
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.24.131
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 7798905
• Web Site: https://petit.lib.yamaguchi-u.ac.jp/16315
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I7798905
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • IRDB
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可