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  1. B200 工学部/工学研究科
  2. B200e 会議資料
  3. 国際会議

Synthesis of Stable Grasp by Four-Fingered Robot Hand for Pick-and-Place of Assembling Parts

http://hdl.handle.net/2237/20765
http://hdl.handle.net/2237/20765
bcded85e-4822-422d-a4d8-35fc9590c5cd
名前 / ファイル ライセンス アクション
0120.pdf 0120.pdf (1.3 MB)
Item type 会議発表論文 / Conference Paper(1)
公開日 2014-11-11
タイトル
タイトル Synthesis of Stable Grasp by Four-Fingered Robot Hand for Pick-and-Place of Assembling Parts
言語 en
著者 Nakashima, Akira

× Nakashima, Akira

WEKO 54341

en Nakashima, Akira

Search repository
Uno, Takashi

× Uno, Takashi

WEKO 54342

en Uno, Takashi

Search repository
Hayakawa, Yoshikazu

× Hayakawa, Yoshikazu

WEKO 54343

en Hayakawa, Yoshikazu

Search repository
Kondo, Toshiyuki

× Kondo, Toshiyuki

WEKO 54344

en Kondo, Toshiyuki

Search repository
Sawada, Shinji

× Sawada, Shinji

WEKO 54345

en Sawada, Shinji

Search repository
Nanba, Nobuhiro

× Nanba, Nobuhiro

WEKO 54346

en Nanba, Nobuhiro

Search repository
アクセス権
アクセス権 open access
アクセス権URI http://purl.org/coar/access_right/c_abf2
キーワード
主題Scheme Other
主題 handling
キーワード
主題Scheme Other
主題 robot control
キーワード
主題Scheme Other
主題 stability criteria
キーワード
主題Scheme Other
主題 industrial robots
キーワード
主題Scheme Other
主題 optimization problems
抄録
内容記述 This paper proposes a synthesis methodology of stable grasp by a four-fingered robot hand in order to automate preparation for assembling work, which is composed of recognition, grasp and carry of assembling parts. An optimization method of grasping forces, object configuration and contact points is proposed. The criterion of the optimization is appropriate normalized distances from the planes of a constraint polyhedron, which is derived by the friction and joint torque limitations. An experimental result of grasp of a door mirror is shown to verify the effectiveness of the proposed method.
言語 en
内容記述タイプ Abstract
内容記述
内容記述 5th IFAC Symposium on Mechatronic Systems, Marriott Boston Cambridge, Cambridge, MA, USA, Sept 13-15, 2010
言語 en
内容記述タイプ Other
出版者
言語 en
出版者 International Federation of Automatic Control (IFAC)
言語
言語 eng
資源タイプ
資源 http://purl.org/coar/resource_type/c_5794
タイプ conference paper
出版タイプ
出版タイプ VoR
出版タイプResource http://purl.org/coar/version/c_970fb48d4fbd8a85
DOI
関連タイプ isVersionOf
識別子タイプ DOI
関連識別子 https://doi.org/10.3182/20100913-3-US-2015.00120
ISBN
関連タイプ isPartOf
識別子タイプ ISBN
関連識別子 978-3-902661-76-0
書誌情報 en : 5th IFAC Symposium on Mechatronic Systems

p. 669-676, 発行日 2010-09
著者版フラグ
値 publisher
URI
識別子 http://dx.doi.org/10.3182/20100913-3-US-2015.00120
識別子タイプ DOI
URI
識別子 http://hdl.handle.net/2237/20765
識別子タイプ HDL
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