对曲柄车削的任务理解

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI:10.1109/IROS.1994.407537

H. Mayeda, Koichi Miyaji

{"title":"对曲柄车削的任务理解","authors":"H. Mayeda, Koichi Miyaji","doi":"10.1109/IROS.1994.407537","DOIUrl":null,"url":null,"abstract":"The task understanding is examined for a popular task of the crank turning by a robot manipulator. A mathematical task model embedded uncertain factors as unknown parameters is constructed, and by analyzing the model, a robust task strategy to revolute the crank is contrived. It is shown how to design a robot controller to execute the task strategy. A controller is designed as an example and the validity of the controller is investigated by simulation.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"195 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"Task understanding of the crank turning\",\"authors\":\"H. Mayeda, Koichi Miyaji\",\"doi\":\"10.1109/IROS.1994.407537\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The task understanding is examined for a popular task of the crank turning by a robot manipulator. A mathematical task model embedded uncertain factors as unknown parameters is constructed, and by analyzing the model, a robust task strategy to revolute the crank is contrived. It is shown how to design a robot controller to execute the task strategy. A controller is designed as an example and the validity of the controller is investigated by simulation.<<ETX>>\",\"PeriodicalId\":437805,\"journal\":{\"name\":\"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)\",\"volume\":\"195 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1994-09-12\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.1994.407537\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1994.407537","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 9

摘要

研究了机械臂曲柄转动这一常见任务的任务理解问题。建立了嵌入不确定因素作为未知参数的数学任务模型，通过对模型的分析，设计了一种鲁棒的曲柄旋转任务策略。给出了如何设计机器人控制器来执行任务策略。以设计控制器为例，通过仿真验证了控制器的有效性

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Task understanding of the crank turning

The task understanding is examined for a popular task of the crank turning by a robot manipulator. A mathematical task model embedded uncertain factors as unknown parameters is constructed, and by analyzing the model, a robust task strategy to revolute the crank is contrived. It is shown how to design a robot controller to execute the task strategy. A controller is designed as an example and the validity of the controller is investigated by simulation.<>

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)

自引率

0.00%

发文量