著者

花房 秀郎 浅田 春比古

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.12, no.5, pp.536-542, 1976-10-30 (Released:2009-03-27)

参考文献数

4

被引用文献数

1 2

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It is desired that artificial fingers can grip various objects with a gripping suitable to their shapes. In this paper, we discuss the matching between the structure of artificial fingers and the shapes of objects. The gripping by a robot is regarded as the restriction of the objects by the fingers. The forces acting on the objects should be balanced for the gripping.First the finger forces depending on the structure of the artificial fingers and the shape of an object are analyzed. Second by introducing the potential function the stability of a gripping form is discussed. When the potential is relative minimum at a certain gripping form, the resultant of all the finger forces acts so as to keep the gripping for all of small deviations. The defined potential can be applied to decide the optimal gripping form and the design of an universal gripper.

著者

中村 仁彦 花房 秀郎

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.21, no.5, pp.501-507, 1985-05-30 (Released:2009-03-27)

参考文献数

20

被引用文献数

3 4

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In this paper, the optimal redundancy utilization of articulated robot arms is discussed. Concerning redundancy utilization of robot arms, the momentary optimal control scheme has been proposed so far, where the null spaces of Jacobian matrices are made optimal use of instantaneously. However, it is not enough when the exact optimality covering the full working time is required. For examples, the energy saving motion is required for robot manipulators of space use. The successful motion may not be always obtained for obstacle avoidance problem in the working space with complicated obstacles, if we apply the momentary optimal control scheme.The globally optimal control scheme of redundancy is formulated based on Maximum Principle. By applying this scheme, the optimal solution is necessarily obtained, if it exists. And the amount of computation is reduced to one dimensional search for the minimum value when the degree of redundancy is equal to one.

著者

花房 秀郎

出版者

公益社団法人 計測自動制御学会

雑誌

計測と制御 (ISSN:04534662)

巻号頁・発行日

vol.18, no.1, pp.30-36, 1979-01-10 (Released:2009-11-26)

参考文献数

16