Force control and contour following of constrained robotic systems 拘束された面ならいロボティックシステムの力制御とその応用

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著者

    • H. Roger Lakhani H. ロジャ ラカーニ

書誌事項

タイトル

Force control and contour following of constrained robotic systems

タイトル別名

拘束された面ならいロボティックシステムの力制御とその応用

著者名

H. Roger Lakhani

著者別名

H. ロジャ ラカーニ

学位授与大学

東京工業大学

取得学位

博士 (工学)

学位授与番号

甲第3438号

学位授与年月日

1997-03-26

注記・抄録

博士論文

目次

  1. 論文目録 / (0002.jp2)
  2. Table of Contents / p7 (0009.jp2)
  3. Title Page / p1 (0003.jp2)
  4. Abstract / p2 (0004.jp2)
  5. Acknowledgements / p4 (0006.jp2)
  6. Table of Contents / p7 (0009.jp2)
  7. List of Figures / p10 (0012.jp2)
  8. List of Tables / p14 (0016.jp2)
  9. Chapter1.Introduction / p15 (0017.jp2)
  10. 1.1 Motivation / p16 (0018.jp2)
  11. 1.2 Previous Work / p18 (0019.jp2)
  12. 1.3 Shortfalls of Previous Research Efforts on Force Control / p24 (0022.jp2)
  13. 1.4 Problem Statement / p27 (0024.jp2)
  14. 1.5 Thesis Overview / p27 (0024.jp2)
  15. 1.6 Contributions of This Work / p28 (0024.jp2)
  16. Chapter2.Force Control in the Presence of Contact Point Disturbances / p30 (0025.jp2)
  17. 2.1 Disturbances in Force Controlled Systems / p31 (0026.jp2)
  18. 2.2 Disturbance Rejection Analysis / p31 (0026.jp2)
  19. 2.2 How to Reduce the Effects of Disturbances / p35 (0028.jp2)
  20. 2.3 Higher Order Force Feedback / p37 (0029.jp2)
  21. 2.4 Formal Robust Control Design / p39 (0030.jp2)
  22. 2.5 Kinematically Constrained Model / p48 (0035.jp2)
  23. Chapter3.One-Link Experiments / p52 (0037.jp2)
  24. 3.1 Design Requirements and Trade-offs / p53 (0038.jp2)
  25. 3.2 Design Implementation / p54 (0039.jp2)
  26. 3.3 System Identification / p55 (0039.jp2)
  27. 3.4 Experiments with Contact Point Disturbances / p60 (0043.jp2)
  28. 3.5 Discussion / p66 (0046.jp2)
  29. Chapter4.Contour Following / p69 (0047.jp2)
  30. 4.1 Current Commonly Used Approaches / p70 (0048.jp2)
  31. 4.2 Constrained System Modelling / p72 (0049.jp2)
  32. 4.3 Contact Point Disturbances as Time-Varying Kinematic Constraints / p74 (0050.jp2)
  33. 4.4 An Approach to Contour Following for Industrial Robots / p81 (0054.jp2)
  34. Chapter5.Contour Following Testbed and Experiments / p96 (0061.jp2)
  35. 5.1 Design Requirements and Trade-offs―Force Control in Industry / p97 (0062.jp2)
  36. 5.2 Design Implementation / p99 (0063.jp2)
  37. 5.3 Control Considerations / p110 (0071.jp2)
  38. 5.4 System Parameter Evaluation / p111 (0072.jp2)
  39. 5.5 Experiments / p119 (0076.jp2)
  40. 5.6 Discussion / p121 (0077.jp2)
  41. Chapter6.Conclusions / p147 (0090.jp2)
  42. 6.1 Principal Results / p148 (0091.jp2)
  43. 6.2 Suggestions for Further Work / p150 (0092.jp2)
  44. Appendix / p152 (0093.jp2)
  45. Appendix1.Hardware Mechanical Drawings / p153 (0094.jp2)
  46. Appendix2.2-cycle Experimental Results / p158 (0099.jp2)
  47. References / p179 (0110.jp2)
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各種コード

  • NII論文ID(NAID)
    500000153640
  • NII著者ID(NRID)
    • 8000000153911
  • DOI(NDL)
  • NDL書誌ID
    • 000000317954
  • データ提供元
    • NDL-OPAC
    • NDLデジタルコレクション
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