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  1. 060 工学部
  2. 10 学術雑誌論文
  3. 10 査読済論文
  1. 0 資料タイプ別
  2. 01 学術雑誌論文

駆動冗長パラレルマニピュレータに用いる内力センサについて

http://hdl.handle.net/10191/5883
http://hdl.handle.net/10191/5883
516bf80d-b3e0-441a-aa0a-ca4c6a09793d
名前 / ファイル ライセンス アクション
9_0181.pdf 9_0181.pdf (599.2 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2008-04-08
タイトル
タイトル 駆動冗長パラレルマニピュレータに用いる内力センサについて
タイトル
言語 en
タイトル 駆動冗長パラレルマニピュレータに用いる内力センサについて
言語
言語 jpn
キーワード
主題Scheme Other
主題 Internal Force Sensor
キーワード
主題Scheme Other
主題 Parallel Manipulator
キーワード
主題Scheme Other
主題 Redundant Actuation
資源タイプ
資源 http://purl.org/coar/resource_type/c_6501
タイプ journal article
その他のタイトル
その他のタイトル An Internal Force Sensor for Control of a Redundant Parallel Manipulator
著者 三村, 宣治

× 三村, 宣治

WEKO 45234

三村, 宣治

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小野寺, 良二

× 小野寺, 良二

WEKO 45235

小野寺, 良二

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佐谷, 明映

× 佐谷, 明映

WEKO 45236

佐谷, 明映

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著者別名
識別子 45237
識別子Scheme WEKO
姓名 Mimura, Nobuharu
著者別名
識別子 45238
識別子Scheme WEKO
姓名 Onodera, Ryouji
著者別名
識別子 45239
識別子Scheme WEKO
姓名 Satani, Akiei
抄録
内容記述タイプ Abstract
内容記述 This paper describes an internal force sensor for a new redundant parallel manipulator. In convensional control methods of a redundant parallel manipulator, optimal torque minimized actuator torque or maximized manipulability by using evaluation function is decided and used. However, these methods have to use a torque controlled actuator. It's torque is small, also it is expensive. So, we proposed a new control method using a conventional geared actuator. In our method, internal forces produced by actuator redundancy was detected by an internal force sensor and controlled to be zero. This force sensor is designed to detect only internal forces loaded the end-effector. We demonstrate about the structure and the principle of the proposed internal force sensor, and experimental result of the internal force sensor when internal and outer forces are loaded it.
書誌情報 日本機械学会論文集. C編
en : 日本機械学会論文集. C編

巻 72, 号 715, p. 893-900, 発行日 2006-03
出版者
出版者 日本機械学会
ISSN
収録物識別子タイプ ISSN
収録物識別子 03875024
書誌レコードID
収録物識別子タイプ NCID
収録物識別子 AN00187463
権利
権利情報 日本機械学会 / 本文データは学会の許諾に基づくCiNiiからの複製である
著者版フラグ
値 publisher
異版である
関連タイプ isVersionOf
識別子タイプ URI
関連識別子 http://ci.nii.ac.jp/naid/110004702512
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