Handling of an object exceeding load capacity of dual manipulators using virtually unactuated joints

Jun Imamura, Kazuhiro Kosuge

研究成果: Conference article査読

11 被引用数 (Scopus)

抄録

The load capacity of a manipulator depends on a load capacity of a joint or load capacities of some joints of the manipulator. Even if a manipulator could not handle an object because of its load capacity, some of its joints still have enough capabilities for the handling of the object. In this paper, we proposed a method to handle an object using available joints of the manipulators by introducing virtually unactuated joints. The virtually unactuated joints are controlled so that no load will be applied to the joints. The introduction of the virtually unactuated joints make the available degrees of freedom of the manipulator less than that of the original manipulator. In this paper, we propose a method to manipulate an object with dual manipulators having virtually unactuated joints. An experiment illustrates the validity.

本文言語English
ページ(範囲)989-994
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
1
出版ステータスPublished - 2002 1 1
イベント2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
継続期間: 2002 5 112002 5 15

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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