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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/10191/5883516bf80d-b3e0-441a-aa0a-ca4c6a09793d
名前 / ファイル | ライセンス | アクション |
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9_0181.pdf (599.2 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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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× 小野寺, 良二× 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 |
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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 |