Serveur d'exploration sur l'opéra

Attention, ce site est en cours de développement !
Attention, site généré par des moyens informatiques à partir de corpus bruts.
Les informations ne sont donc pas validées.

Joint torque-velocity pair based manipulability for manipulators

Identifieur interne : 000239 ( PascalFrancis/Checkpoint ); précédent : 000238; suivant : 000240

Joint torque-velocity pair based manipulability for manipulators

Auteurs : Tetsuyou Watanabe [Japon]

Source :

RBID : Pascal:09-0122315

Descripteurs français

English descriptors

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...)


Links to Exploration step

Pascal:09-0122315

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>
</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>
<inist>
<standard h6="B">
<pA>
<fA01 i1="01" i2="1">
<s0>0277-786X</s0>
</fA01>
<fA05>
<s2>6794</s2>
</fA05>
<fA06>
<s3>p.1</s3>
</fA06>
<fA08 i1="01" i2="1" l="ENG">
<s1>Joint torque-velocity pair based manipulability for manipulators</s1>
</fA08>
<fA09 i1="01" i2="1" l="ENG">
<s1>Mechatronics, MEMs, and smart materials : 5-6 December 2007, Gifu, Japan</s1>
</fA09>
<fA11 i1="01" i2="1">
<s1>WATANABE (Tetsuyou)</s1>
</fA11>
<fA12 i1="01" i2="1">
<s1>SASAKI (Minoru)</s1>
<s9>ed.</s9>
</fA12>
<fA12 i1="02" i2="1">
<s1>GISANG CHOI SANG</s1>
<s9>ed.</s9>
</fA12>
<fA12 i1="03" i2="1">
<s1>ZUSHU LI</s1>
<s9>ed.</s9>
</fA12>
<fA12 i1="04" i2="1">
<s1>RYOJUN (Ikeura)</s1>
<s9>ed.</s9>
</fA12>
<fA12 i1="05" i2="1">
<s1>HYUNGKI KIM</s1>
<s9>ed.</s9>
</fA12>
<fA12 i1="06" i2="1">
<s1>FANGZHENG XUE</s1>
<s9>ed.</s9>
</fA12>
<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>
</fA14>
<fA18 i1="01" i2="1">
<s1>Gifu University</s1>
<s3>JPN</s3>
<s9>org-cong.</s9>
</fA18>
<fA18 i1="02" i2="1">
<s1>Society of photo-optical instrumentation engineers</s1>
<s3>USA</s3>
<s9>org-cong.</s9>
</fA18>
<fA20>
<s2>679427.1-679427.7</s2>
</fA20>
<fA21>
<s1>2008</s1>
</fA21>
<fA23 i1="01">
<s0>ENG</s0>
</fA23>
<fA26 i1="01">
<s0>978-0-8194-6959-5</s0>
</fA26>
<fA43 i1="01">
<s1>INIST</s1>
<s2>21760</s2>
<s5>354000172932680770</s5>
</fA43>
<fA44>
<s0>0000</s0>
<s1>© 2009 INIST-CNRS. All rights reserved.</s1>
</fA44>
<fA45>
<s0>10 ref.</s0>
</fA45>
<fA47 i1="01" i2="1">
<s0>09-0122315</s0>
</fA47>
<fA60>
<s1>P</s1>
<s2>C</s2>
</fA60>
<fA61>
<s0>A</s0>
</fA61>
<fA64 i1="01" i2="1">
<s0>Proceedings of SPIE - The International Society for Optical Engineering</s0>
</fA64>
<fA66 i1="01">
<s0>USA</s0>
</fA66>
<fC01 i1="01" l="ENG">
<s0>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.</s0>
</fC01>
<fC02 i1="01" i2="3">
<s0>001B00G07D</s0>
</fC02>
<fC02 i1="02" i2="X">
<s0>001D02D11</s0>
</fC02>
<fC02 i1="03" i2="3">
<s0>001B00A30C</s0>
</fC02>
<fC03 i1="01" i2="3" l="FRE">
<s0>Actionneur</s0>
<s5>11</s5>
</fC03>
<fC03 i1="01" i2="3" l="ENG">
<s0>Actuators</s0>
<s5>11</s5>
</fC03>
<fC03 i1="02" i2="3" l="FRE">
<s0>Assemblage mécanique</s0>
<s5>61</s5>
</fC03>
<fC03 i1="02" i2="3" l="ENG">
<s0>Joints</s0>
<s5>61</s5>
</fC03>
<fC03 i1="03" i2="X" l="FRE">
<s0>Faisabilité</s0>
<s5>62</s5>
</fC03>
<fC03 i1="03" i2="X" l="ENG">
<s0>Feasibility</s0>
<s5>62</s5>
</fC03>
<fC03 i1="03" i2="X" l="SPA">
<s0>Practicabilidad</s0>
<s5>62</s5>
</fC03>
<fC03 i1="04" i2="X" l="FRE">
<s0>Manipulation</s0>
<s5>63</s5>
</fC03>
<fC03 i1="04" i2="X" l="ENG">
<s0>Manipulation</s0>
<s5>63</s5>
</fC03>
<fC03 i1="04" i2="X" l="SPA">
<s0>Manipulación</s0>
<s5>63</s5>
</fC03>
<fC03 i1="05" i2="3" l="FRE">
<s0>Manipulateur</s0>
<s5>64</s5>
</fC03>
<fC03 i1="05" i2="3" l="ENG">
<s0>Manipulators</s0>
<s5>64</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE">
<s0>Robotique</s0>
<s5>65</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG">
<s0>Robotics</s0>
<s5>65</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA">
<s0>Robótica</s0>
<s5>65</s5>
</fC03>
<fC03 i1="07" i2="3" l="FRE">
<s0>Gravité</s0>
<s5>66</s5>
</fC03>
<fC03 i1="07" i2="3" l="ENG">
<s0>Gravity</s0>
<s5>66</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE">
<s0>Masse ajoutée</s0>
<s5>67</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG">
<s0>Added mass</s0>
<s5>67</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA">
<s0>Masa agregada</s0>
<s5>67</s5>
</fC03>
<fC03 i1="09" i2="3" l="FRE">
<s0>Robot</s0>
<s5>68</s5>
</fC03>
<fC03 i1="09" i2="3" l="ENG">
<s0>Robots</s0>
<s5>68</s5>
</fC03>
<fC03 i1="10" i2="3" l="FRE">
<s0>0130C</s0>
<s4>INC</s4>
<s5>83</s5>
</fC03>
<fC03 i1="11" i2="3" l="FRE">
<s0>0707D</s0>
<s4>INC</s4>
<s5>91</s5>
</fC03>
<fN21>
<s1>089</s1>
</fN21>
<fN44 i1="01">
<s1>OTO</s1>
</fN44>
<fN82>
<s1>OTO</s1>
</fN82>
</pA>
<pR>
<fA30 i1="01" i2="1" l="ENG">
<s1>ICMIT 2007</s1>
<s3>Gifu JPN</s3>
<s4>2007</s4>
</fA30>
</pR>
</standard>
</inist>
<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/PascalFrancis/Checkpoint
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000239 | SxmlIndent | more

Ou

HfdSelect -h $EXPLOR_AREA/Data/PascalFrancis/Checkpoint/biblio.hfd -nk 000239 | SxmlIndent | more

Pour mettre un lien sur cette page dans le réseau Wicri

{{Explor lien
   |wiki=    Wicri/Musique
   |area=    OperaV1
   |flux=    PascalFrancis
   |étape=   Checkpoint
   |type=    RBID
   |clé=     Pascal:09-0122315
   |texte=   Joint torque-velocity pair based manipulability for manipulators
}}

Wicri

This area was generated with Dilib version V0.6.21.
Data generation: Thu Apr 14 14:59:05 2016. Site generation: Thu Oct 8 06:48:41 2020