3台の産業用ロボットによる協調制御システムの開発 受動関節機構の特異姿勢の導出
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| Published in | 日本機械学会論文集 C編 Vol. 74; no. 748; pp. 2985 - 2993 |
|---|---|
| Main Authors | , , |
| Format | Journal Article |
| Language | Japanese |
| Published |
一般社団法人 日本機械学会
2008
|
| Online Access | Get full text |
| ISSN | 0387-5024 1884-8354 |
| DOI | 10.1299/kikaic.74.2985 |
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| Author | 大隅, 久 加賀谷, 学 相山, 康道 |
|---|---|
| Author_xml | – sequence: 1 fullname: 相山, 康道 organization: 筑波大学大学院システム情報工学研究科 – sequence: 1 fullname: 大隅, 久 organization: 中央大学理工学部 – sequence: 1 fullname: 加賀谷, 学 organization: 中央大学理工学部 |
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| References | (3) H.Osumi, T.Arai, T.Fukuoka, K.Moriyama and H.Torii : “Cooperative Control of Two Industrial Robots with Force Control Devices”, Proc. 1995 IEEE/RSJ Int. Conf.on Intell. Robots and Systems, 3 (1995), 550-555. (16) T.Ropponen and Y.Nakamura : “Singularity-Free Parameterization and Perfromance Analysis of Actuation Redundancy”, Proc. IEEE Int. Conf. Robotics and Automation,, (1990), pp.806-811. (5) H.Osumi and Arai : “Cooperative Control between Two Position-Controlled Manipulators”, Proc. IEEE Int. Conf. Robotics and Automation, (1994), pp.1509-1514. (7) H.Osumi, T.Arai, H.Asama, H.Kaetsu G.Hashimoto and M.Sugihara : “Development of a Cooperative System comprised of a Robot and a 7 D.O.F. Crane with Three Wires”, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.63, No.609 (1997), 1649-1655. (6) H.Osumi, M.Ono, M.Fujibayashi and M.Kagatani : “Cooperative System for Multiple Position-controlled Robots with Free Joint Mechanisms”, Proc. 1997 IEEE Int. Conf on Robotics and Automation, (1997), 1484-1489. (14) H.Osumi : “Design of Cooperative System Consisting of Multiple Position Controlled Robots”, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol. 65, No.634 (1999), pp. 2405-2412. (11) M.Sato, Y.Hasegwa, T.Kamimura, A.Ming, M.Kajitani and C.Kanamori : “Cooperative Operation by Two Mobile Manupulators-Experiment of One Mobile Manipurator Using The Active/passive Switching Function-”, Proc. of 17th Annual Conference of Robotics Society of Japan, Vol.3 (1999), pp.365-366. (4) H.Osumi and T.Arai : “A Method for Introducing Industrial Robots to Cooperative Tasks”, Journal of The Robotics Society of Japan, 12-8 (1994), pp.1192-1197. (2) K.Kosuge, H.Yoshida, T.Fukuda, K.Kanitani, M.Sakai and K.Hariki : “Coordinated Motion Control of Manipulators Based on Impedance Control”, Journal of The Robotics Society of Japan, 13-3, (1995), 404-410. (8) J.Ota, Y.Buei, T.Arai, H.Osumi and K.Suyama : “Transferring Control by Cooperation of Two Mobile Robots”, Journal of The Robotics Society of Japan, 14-2 (1996), pp.263-270. (17) N.Mimura, R.Onodera and A.Satani : “A Control Algorithm of a Redundant Parallel Manipulator by an Internal Force Sensor”, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol. 71, No.701 (2005), pp. 185-192. (1) J.Fujimori, T.Katsuragawa, K.Ioi, T.Itoko, Y.Kurosaki, : “Proposal and Investigation of Cooperrative Force Control by Multiple Manipulators”, Proc. of 13th Annual Conference of Robotics Society of Japan, Vol.3 (1995), 781-782. (10) H.Osumi, H.Nojiri, Y.Kuribayashi and T.Okazaki : “Cooperative Control for Three Mobile Robots Transporting a Large Object”, Journal of The Robotics Society of Japan, 19-6 (2001), pp.744-752. (13) A.Bicchi and D.Prattichizzo : “Manipulability of Cooperating Robots with Passive Joints”, Proc. 1998 IEEE Int. Conf Robotics and Automation (1998), pp.1038-1044. (12) Imamura and Kosuge : “Handling of an Object Exceeding Load Capacity of Dual Manipulators Using Virtually Unactuated Joints”, Proc. 2002 IEEE Int. Conf. on Robotics and Automation (2002), pp.989-994. (9) J.Zhang, R.Lumia, G.Starr and J.Wood : “Sharing Inertia Load Between Multiple Robots with Active Compliant Grippers Using Trajectory Pre-Shaping”, Proc. 2004 IEEE Int. Conf.on Robotics and Automation (2004), pp.2574-2581. (15) Kobayashi : “Control and Geometrical Considerations for an Articulated Robot Hand”, Int. Journal of Robotics Research, 4-1 (1985), pp.3-12. |
| References_xml | – reference: (1) J.Fujimori, T.Katsuragawa, K.Ioi, T.Itoko, Y.Kurosaki, : “Proposal and Investigation of Cooperrative Force Control by Multiple Manipulators”, Proc. of 13th Annual Conference of Robotics Society of Japan, Vol.3 (1995), 781-782. – reference: (11) M.Sato, Y.Hasegwa, T.Kamimura, A.Ming, M.Kajitani and C.Kanamori : “Cooperative Operation by Two Mobile Manupulators-Experiment of One Mobile Manipurator Using The Active/passive Switching Function-”, Proc. of 17th Annual Conference of Robotics Society of Japan, Vol.3 (1999), pp.365-366. – reference: (16) T.Ropponen and Y.Nakamura : “Singularity-Free Parameterization and Perfromance Analysis of Actuation Redundancy”, Proc. IEEE Int. Conf. Robotics and Automation,, (1990), pp.806-811. – reference: (13) A.Bicchi and D.Prattichizzo : “Manipulability of Cooperating Robots with Passive Joints”, Proc. 1998 IEEE Int. Conf Robotics and Automation (1998), pp.1038-1044. – reference: (15) Kobayashi : “Control and Geometrical Considerations for an Articulated Robot Hand”, Int. Journal of Robotics Research, 4-1 (1985), pp.3-12. – reference: (8) J.Ota, Y.Buei, T.Arai, H.Osumi and K.Suyama : “Transferring Control by Cooperation of Two Mobile Robots”, Journal of The Robotics Society of Japan, 14-2 (1996), pp.263-270. – reference: (17) N.Mimura, R.Onodera and A.Satani : “A Control Algorithm of a Redundant Parallel Manipulator by an Internal Force Sensor”, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol. 71, No.701 (2005), pp. 185-192. – reference: (10) H.Osumi, H.Nojiri, Y.Kuribayashi and T.Okazaki : “Cooperative Control for Three Mobile Robots Transporting a Large Object”, Journal of The Robotics Society of Japan, 19-6 (2001), pp.744-752. – reference: (14) H.Osumi : “Design of Cooperative System Consisting of Multiple Position Controlled Robots”, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol. 65, No.634 (1999), pp. 2405-2412. – reference: (4) H.Osumi and T.Arai : “A Method for Introducing Industrial Robots to Cooperative Tasks”, Journal of The Robotics Society of Japan, 12-8 (1994), pp.1192-1197. – reference: (12) Imamura and Kosuge : “Handling of an Object Exceeding Load Capacity of Dual Manipulators Using Virtually Unactuated Joints”, Proc. 2002 IEEE Int. Conf. on Robotics and Automation (2002), pp.989-994. – reference: (3) H.Osumi, T.Arai, T.Fukuoka, K.Moriyama and H.Torii : “Cooperative Control of Two Industrial Robots with Force Control Devices”, Proc. 1995 IEEE/RSJ Int. Conf.on Intell. Robots and Systems, 3 (1995), 550-555. – reference: (7) H.Osumi, T.Arai, H.Asama, H.Kaetsu G.Hashimoto and M.Sugihara : “Development of a Cooperative System comprised of a Robot and a 7 D.O.F. Crane with Three Wires”, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.63, No.609 (1997), 1649-1655. – reference: (2) K.Kosuge, H.Yoshida, T.Fukuda, K.Kanitani, M.Sakai and K.Hariki : “Coordinated Motion Control of Manipulators Based on Impedance Control”, Journal of The Robotics Society of Japan, 13-3, (1995), 404-410. – reference: (6) H.Osumi, M.Ono, M.Fujibayashi and M.Kagatani : “Cooperative System for Multiple Position-controlled Robots with Free Joint Mechanisms”, Proc. 1997 IEEE Int. Conf on Robotics and Automation, (1997), 1484-1489. – reference: (9) J.Zhang, R.Lumia, G.Starr and J.Wood : “Sharing Inertia Load Between Multiple Robots with Active Compliant Grippers Using Trajectory Pre-Shaping”, Proc. 2004 IEEE Int. Conf.on Robotics and Automation (2004), pp.2574-2581. – reference: (5) H.Osumi and Arai : “Cooperative Control between Two Position-Controlled Manipulators”, Proc. IEEE Int. Conf. Robotics and Automation, (1994), pp.1509-1514. |
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| Subtitle | 受動関節機構の特異姿勢の導出 |
| Title | 3台の産業用ロボットによる協調制御システムの開発 |
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