Joint torque-velocity pair based manipulability for manipulators
Identifieur interne : 001504 ( Main/Exploration ); précédent : 001503; suivant : 001505Joint torque-velocity pair based manipulability for manipulators
Auteurs : Tetsuyou Watanabe [Japon]Source :
- Proceedings of SPIE - The International Society for Optical Engineering [ 0277-786X ] ; 2008.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Robotique.
English descriptors
- KwdEn :
Abstract
This paper provides a new approach of manipulability for robotic manipulators. While conventional manipu lability is analysis in velocity domain and can not include force effect such as gravity of link and payload, the proposing approach can include the force effect. For the purpose, an operation range is introduced. The opera tion range is for actuator attached with every joint of robot and provides generable joint torque and velocity and their relation (between generating torque/velocity and addable velocity/torque). Using the operation range, we develop a new manipulability in velocity domain, including force effect.
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream PascalFrancis, to step Corpus: 000246
- to stream PascalFrancis, to step Curation: 000298
- to stream PascalFrancis, to step Checkpoint: 000239
- to stream Main, to step Merge: 001525
- to stream Main, to step Curation: 001504
Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Joint torque-velocity pair based manipulability for manipulators</title><author><name sortKey="Watanabe, Tetsuyou" sort="Watanabe, Tetsuyou" uniqKey="Watanabe T" first="Tetsuyou" last="Watanabe">Tetsuyou Watanabe</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Graduate School of Natural Science & Technology, Kanazawa University</s1><s2>Kakuma-machi, Kanazawa, 920-1192</s2><s3>JPN</s3><sZ>1 aut.</sZ></inist:fA14><country>Japon</country><wicri:noRegion>Kakuma-machi, Kanazawa, 920-1192</wicri:noRegion></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">09-0122315</idno><date when="2008">2008</date><idno type="stanalyst">PASCAL 09-0122315 INIST</idno><idno type="RBID">Pascal:09-0122315</idno><idno type="wicri:Area/PascalFrancis/Corpus">000246</idno><idno type="wicri:Area/PascalFrancis/Curation">000298</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000239</idno><idno type="wicri:doubleKey">0277-786X:2008:Watanabe T:joint:torque:velocity</idno><idno type="wicri:Area/Main/Merge">001525</idno><idno type="wicri:Area/Main/Curation">001504</idno><idno type="wicri:Area/Main/Exploration">001504</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Joint torque-velocity pair based manipulability for manipulators</title><author><name sortKey="Watanabe, Tetsuyou" sort="Watanabe, Tetsuyou" uniqKey="Watanabe T" first="Tetsuyou" last="Watanabe">Tetsuyou Watanabe</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Graduate School of Natural Science & Technology, Kanazawa University</s1><s2>Kakuma-machi, Kanazawa, 920-1192</s2><s3>JPN</s3><sZ>1 aut.</sZ></inist:fA14><country>Japon</country><wicri:noRegion>Kakuma-machi, Kanazawa, 920-1192</wicri:noRegion></affiliation></author></analytic><series><title level="j" type="main">Proceedings of SPIE - The International Society for Optical Engineering</title><idno type="ISSN">0277-786X</idno><imprint><date when="2008">2008</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">Proceedings of SPIE - The International Society for Optical Engineering</title><idno type="ISSN">0277-786X</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Actuators</term><term>Added mass</term><term>Feasibility</term><term>Gravity</term><term>Joints</term><term>Manipulation</term><term>Manipulators</term><term>Robotics</term><term>Robots</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Actionneur</term><term>Assemblage mécanique</term><term>Faisabilité</term><term>Manipulation</term><term>Manipulateur</term><term>Robotique</term><term>Gravité</term><term>Masse ajoutée</term><term>Robot</term><term>0130C</term><term>0707D</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper provides a new approach of manipulability for robotic manipulators. While conventional manipu lability is analysis in velocity domain and can not include force effect such as gravity of link and payload, the proposing approach can include the force effect. For the purpose, an operation range is introduced. The opera tion range is for actuator attached with every joint of robot and provides generable joint torque and velocity and their relation (between generating torque/velocity and addable velocity/torque). Using the operation range, we develop a new manipulability in velocity domain, including force effect.</div></front></TEI><affiliations><list><country><li>Japon</li></country></list><tree><country name="Japon"><noRegion><name sortKey="Watanabe, Tetsuyou" sort="Watanabe, Tetsuyou" uniqKey="Watanabe T" first="Tetsuyou" last="Watanabe">Tetsuyou Watanabe</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Wicri/Musique/explor/OperaV1/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 001504 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 001504 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Wicri/Musique
|area= OperaV1
|flux= Main
|étape= Exploration
|type= RBID
|clé= Pascal:09-0122315
|texte= Joint torque-velocity pair based manipulability for manipulators
}}
| This area was generated with Dilib version V0.6.21. |  |