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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/2237/20765bcded85e-4822-422d-a4d8-35fc9590c5cd
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
0120.pdf (1.3 MB)
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| アイテムタイプ | 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× Uno, Takashi× Hayakawa, Yoshikazu× Kondo, Toshiyuki× Sawada, Shinji× Nanba, Nobuhiro |
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| 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 | ||||||
| 内容記述タイプ | Abstract | |||||
| 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 | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | 5th IFAC Symposium on Mechatronic Systems, Marriott Boston Cambridge, Cambridge, MA, USA, Sept 13-15, 2010 | |||||
| 言語 | en | |||||
| 出版者 | ||||||
| 出版者 | International Federation of Automatic Control (IFAC) | |||||
| 言語 | en | |||||
| 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 |
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| 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 | |||||
