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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

Fuzzy Nonprehensile Manipulation Control of a Two-Rigid-Link Object by Two Cooperative Arms

http://hdl.handle.net/2237/20767
http://hdl.handle.net/2237/20767
4008caf3-b978-48b4-b7d3-d13b5fb5d75f
名前 / ファイル ライセンス アクション
1337.pdf 1337.pdf (856.8 kB)
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 Fuzzy Nonprehensile Manipulation Control of a Two-Rigid-Link Object by Two Cooperative Arms
言語 en
著者 Zyada, Zakarya

× Zyada, Zakarya

WEKO 54351

en Zyada, Zakarya

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Hayakawa, Yoshikazu

× Hayakawa, Yoshikazu

WEKO 54352

en Hayakawa, Yoshikazu

Search repository
Hosoe, Shigeyuki

× Hosoe, Shigeyuki

WEKO 54353

en Hosoe, Shigeyuki

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 Intelligent controllers
キーワード
主題Scheme Other
主題 robotics technology
キーワード
主題Scheme Other
主題 systems modeling
キーワード
主題Scheme Other
主題 nonprehensile manipulation control
抄録
内容記述 Motivated by the application of robots in holding and/or transferring a patient, this paper introduces the nonprehensile manipulation control algorithm for lifting up (or lowering down) a two-rigid link object with a passive joint applying two cooperative arms in a two-dimensional space. Fuzzy technique is applied for manipulation control, with high friction at contact, as it is very difficult to be done by conventional model based methods. A fuzzy controller is designed for every variable of the four dimensional position vector specifying the joint’s position and links’ orientations. A rule of a fuzzy controller would be like a human would do: while the friction at contact is high, “IF the reference position is far THEN move the hands quickly forward”. An enhanced dynamic model of the system with high friction at contact for simulation purposes is presented. Simulation results for the manipulation control with the proposed fuzzy controllers are presented to verify the validity of the proposed control algorithm in the achievement of the manipulation motion.
言語 en
内容記述タイプ Abstract
内容記述
内容記述 the 18th World Congress The International Federation of Automatic Control, Milano (Italy), August 28 - September 2, 2011
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/10.3182/20110828-6-IT-1002.01337
ISBN
関連タイプ isPartOf
識別子タイプ ISBN
関連識別子 978-3-902661-93-7
ISSN
収録物識別子タイプ PISSN
収録物識別子 1474-6670
書誌情報 en : Proceedings of the 18th IFAC World Congress, 2011

p. 14614-14621, 発行日 2011-09
著者版フラグ
値 publisher
URI
識別子 http://dx.doi.org/10.3182/20110828-6-IT-1002.01337
識別子タイプ DOI
URI
識別子 http://hdl.handle.net/2237/20767
識別子タイプ HDL
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