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接触モーメントのノイズを考慮した接触状態の同定法
http://hdl.handle.net/10191/5852
http://hdl.handle.net/10191/58524d5890aa-2b4a-4dba-a712-668a355f1cb2
名前 / ファイル | ライセンス | アクション |
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9_0150.pdf (645.2 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 | 接触モーメントのノイズを考慮した接触状態の同定法 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | 接触モーメントのノイズを考慮した接触状態の同定法 | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Robot Hand | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Multi-Fingered Hand | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Active Sensing | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Contact Conditions | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Parameter Identification | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Contaminated Data | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Covariance Matrix | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Eigenvalue | |||||
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 | Identification of Contact Conditions from Contaminated Data of Contact Moment | |||||
著者 |
毛利, 哲也
× 毛利, 哲也× 山田, 貴孝× 三村, 宣治× 舟橋, 康行 |
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著者別名 | ||||||
識別子 | 45519 | |||||
識別子Scheme | WEKO | |||||
姓名 | Mouri, Tetsuya | |||||
著者別名 | ||||||
識別子 | 45520 | |||||
識別子Scheme | WEKO | |||||
姓名 | Yamada, Takayoshi | |||||
著者別名 | ||||||
識別子 | 45521 | |||||
識別子Scheme | WEKO | |||||
姓名 | Mimura, Nobuharu | |||||
著者別名 | ||||||
識別子 | 45522 | |||||
識別子Scheme | WEKO | |||||
姓名 | Funahashi, Yasuyuki | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | When a grasped object is in contact with external environment, it is required to identify contact conditions prior to performing assembly tasks. This paper discusses a method for identification of contact conditions by using an active force sensing method. This paper treats the practical case where sensing data are contaminated with noise. Contact types are characterized by a standard deviation of contact moments. The contact position is estimated by a least-squares method. The contact type can be judged by comparing the eigenvalues of a covariance matrix of estimated contact moment. We establish an efficient and analytical algorithm for identification of contact conditions. The algorithm can identify not only contact position and contact force, but also contact type. | |||||
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 66, 号 648, p. 2685-2692, 発行日 2000-08 |
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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/110002383296 |