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  1. B200 工学部/工学研究科
  2. B200a 雑誌掲載論文
  3. 学術雑誌

空気圧駆動型ゴムアクチュエータを用いたマニピュレータの位置と力の制御

http://hdl.handle.net/2237/10888
cdea1a69-c150-4b84-a478-05a9a0e2317d
名前 / ファイル ライセンス アクション
fukuda_1876.pdf fukuda_1876.pdf (865.3 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2009-01-23
タイトル
タイトル 空気圧駆動型ゴムアクチュエータを用いたマニピュレータの位置と力の制御
その他のタイトル
その他のタイトル POSITION AND FORCE CONTROL OF MANIPULATORS WITH PNEUMATIC DRIVEN RUBBER ACTUATORS
著者 福田, 敏男

× 福田, 敏男

WEKO 25594

福田, 敏男

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宮原, 健一

× 宮原, 健一

WEKO 25595

宮原, 健一

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FUKUDA, Toshio

× FUKUDA, Toshio

WEKO 25596

FUKUDA, Toshio

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MIYAHARA, Kenichi

× MIYAHARA, Kenichi

WEKO 25597

MIYAHARA, Kenichi

Search repository
権利
権利情報 バイオメカニズム学会
権利
権利情報 本文データは学協会の許諾に基づきCiNiiから複製したものである
抄録
内容記述 It is coming to be more important than ever before, in the welfare, medical, agricultural, food production and other application sectors, that skill-based work, such as grasping of human and other soft objects, should be automated and done by robots, if possible. In order for robots to carry out these handling tasks, they must be capable of sensing soft objects and adjusting their position and the applied force to objects. Conventional robots generally lack these control abilities and are not able to hadle soft objects. In this paper, a robot is proposed which can handle such soft objects, so that the robot can control the position and force independently and simultaneously by two-arm configuration with four degrees of freedom at each. The manipulator can move horizontally and employ rubber actuators with air-driven mechanisms. By feeding air into the actuator, the rubber becomes contractive in the direction of length to produce the displacement. The displacement as the actuator output can be controlled by air supply amount at the joint in the PWM manner after sensing the joint angle. This type of actuator has advantages, such as light weight and microprocessor-based control compatibility. In particular, the manipulator proposed here has actuators around the surface and at the tip, so that it can adjust the required force for grasping compliant objects by controlling the surface and tip actuator pressures. Thus the robot can adjust the surface contact ratio and can grasp objects without moving its joint actuators. Since the surface is made of rubber, the robot can handle objects without applying excessive force and damaging objects. By using both joint and surface/tip actuators, the manipulator can perform position and force control independently and simultaneously. Grasping motion control is also possible using the Jacobian matrix of the manipulators. Experiments have been carried out to verify the proposed manipulator's capabilities for handling rigid and soft objects in a wide range of applications. The robot, with a grasping motion, can pinch objects and also hold them. It is shown through experiments that the robotic manipulator can sense object hardness and handle compliant objects.
内容記述タイプ Abstract
出版者
出版者 バイオメカニズム学会
言語
言語 jpn
資源タイプ
資源タイプresource http://purl.org/coar/resource_type/c_6501
タイプ journal article
関連情報
関連タイプ isVersionOf
関連識別子
識別子タイプ URI
関連識別子 http://ci.nii.ac.jp/naid/110004695502/
書誌情報 バイオメカニズム

巻 10, p. 271-280, 発行日 1990-09
フォーマット
application/pdf
著者版フラグ
値 publisher
URI
識別子 http://hdl.handle.net/2237/10888
識別子タイプ HDL
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