Stability analysis of grasps by a multifingered robot hand 多指ロボットハンド把握系の安定性解析

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著者

    • Sushanta Kumar Saha スシャンタ クルマ サハ

書誌事項

タイトル

Stability analysis of grasps by a multifingered robot hand

タイトル別名

多指ロボットハンド把握系の安定性解析

著者名

Sushanta Kumar Saha

著者別名

スシャンタ クルマ サハ

学位授与大学

名古屋工業大学

取得学位

博士(工学)

学位授与番号

甲第261号

学位授与年月日

1999-03-24

注記・抄録

博士論文

目次

  1. TABLE OF CONTENTS / p2 (0006.jp2)
  2. Certificate of Approval / (0004.jp2)
  3. Certificate of Research / (0005.jp2)
  4. Dedication / p1 (0006.jp2)
  5. Table of Contents / p2 (0006.jp2)
  6. CHAPTER1 Introduction / p1 (0008.jp2)
  7. 1.1.The Essence of Robot / p1 (0008.jp2)
  8. 1.2.Why do We Need Robotic Hands? / p2 (0009.jp2)
  9. 1.3.What is a Grasp? / p5 (0010.jp2)
  10. 1.4.Different Kinds of Grasp / p7 (0011.jp2)
  11. 1.5.Survey of Previous Research / p9 (0012.jp2)
  12. 1.6.Brief Introduction to the Dissertation / p16 (0016.jp2)
  13. CHAPTER2 Derivation of Potential Energy and Stability Conditions / p18 (0017.jp2)
  14. 2.1.Introduction / p18 (0017.jp2)
  15. 2.2.Notations and Assumptions / p20 (0018.jp2)
  16. 2.3.Derivation of Potential Energy / p21 (0018.jp2)
  17. 2.4.Stability Conditions / p22 (0019.jp2)
  18. CHAPTER3 Stability Analysis of Frictionless Grasps with Two-Dimensional Spring Model: Approximation Method / p24 (0020.jp2)
  19. 3.1.Introduction / p24 (0020.jp2)
  20. 3.2.Assumption and Notations / p26 (0021.jp2)
  21. 3.3.Compression of Virtual Spring / p26 (0021.jp2)
  22. 3.4.The Hessian for Frictionless Grasps and Relationship with the Previous Result / p29 (0022.jp2)
  23. 3.5.Numerical Examples: Frictionless Grasps / p31 (0023.jp2)
  24. 3.6.Comparison our 2D Model for Frictionless Grasps with Frictional Grasps by Numerical Examples / p43 (0029.jp2)
  25. 3.7.Conclusions / p51 (0033.jp2)
  26. Appendix3A:Derivation of Spring Compression / p52 (0034.jp2)
  27. Appendix3B:Physical Interpretation of Stability Conditions for Grasp(I) / p53 (0034.jp2)
  28. CHAPTER4 Stability Analysis of Frictionless Grasps with Two-Dimensional Spring Model: Exact Method / p63 (0039.jp2)
  29. 4.1.Introduction / p63 (0039.jp2)
  30. 4.2.Assumptions / p64 (0040.jp2)
  31. 4.3.Symbols and Notations / p65 (0040.jp2)
  32. 4.4.Spring Compression / p66 (0041.jp2)
  33. 4.5.Computation of the Hessian / p69 (0042.jp2)
  34. 4.6.Stabilization Conditions for Three-Fingered Grasps / p70 (0043.jp2)
  35. 4.7.Numerical Examples / p72 (0044.jp2)
  36. 4.8.Conclusions / p81 (0048.jp2)
  37. Appendix4A:Derivation of Rotational Matrix Rfi / p81 (0048.jp2)
  38. Appendix4B:Derivation of Radius of Object's Curvature ρoi / p82 (0049.jp2)
  39. Appendix4C:First-order Derivative of ξoi / p83 (0049.jp2)
  40. Appendix4D:First-and Second-order Derivative of δxi and δyi / p84 (0050.jp2)
  41. Appendix 4E:Eigenvalues for Three-Fingered Grasps / p85 (0050.jp2)
  42. Appendix 4F:Eigenvalues for Four-Fingered Grasps / p86 (0051.jp2)
  43. CHAPTER5 Stability Analysis of Frictional Grasps with Rolling Contact / p87 (0051.jp2)
  44. 5.1.Introduction / p87 (0051.jp2)
  45. 5.2.Modeling of Grasps / p88 (0052.jp2)
  46. 5.3.Compression of the Spring / p89 (0052.jp2)
  47. 5.4.Kinematics of Rolling Contact / p91 (0053.jp2)
  48. 5.5.Derivation of the Hessian / p94 (0055.jp2)
  49. 5.6.Stiffness Conditions for Stabilization / p95 (0055.jp2)
  50. 5.7.Conclusions / p100 (0058.jp2)
  51. Appendix5A / p100 (0058.jp2)
  52. Appendix5B / p101 (0058.jp2)
  53. Appendix5C / p102 (0059.jp2)
  54. CHAPTER6 Concluding Remarks / p104 (0060.jp2)
  55. ACKNOWLEDGEMENTS / p109 (0062.jp2)
  56. REFERENCES / p110 (0063.jp2)
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各種コード

  • NII論文ID(NAID)
    500000173159
  • NII著者ID(NRID)
    • 8000000173435
  • DOI(NDL)
  • NDL書誌ID
    • 000000337473
  • データ提供元
    • NDL ONLINE
    • NDLデジタルコレクション
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