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Fuzzy Nonprehensile Manipulation Control of a Two-Rigid-Link Object by Two Cooperative Arms
http://hdl.handle.net/2237/20767
http://hdl.handle.net/2237/207674008caf3-b978-48b4-b7d3-d13b5fb5d75f
名前 / ファイル | ライセンス | アクション |
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Item type | 会議発表論文 / Conference Paper(1) | |||||
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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× Hayakawa, Yoshikazu× Hosoe, Shigeyuki |
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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 | 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 |
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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 |