Art

J-GLOBAL ID：201402209482618705   Reference number：14A0805949

Motion Control of a Hyper Redundant Manipulator Built by Serially Connecting Many Parallel Mechanism Units with a Few DOF

少数の自由度で多数の並列メカニズムユニットを直列に接続して構築した超冗長性のマニピュレータの運動制御

Author (4)： IWATSUKI Nobuyuki (Tokyo Inst. Technol., Tokyo, JPN) ,  NISHIZAKA Norifumi (Komatsu Ltd., Tokyo, JPN) ,  MORIKAWA Koichi (Tokyo Inst. Technol., Tokyo, JPN) ,  KONDOH Koji (Industrial Technol. Center of Fukui Prefecture, Fukui, JPN)
Material： International Journal of Automation Technology  (Int J Autom Technol)
Volume： 4  Issue： 4  Page： 364-371  Publication year： Jul. 05, 2010 
JST Material Number： L0997B  ISSN： 1881-7629  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： ENGLISH (EN)

Thesaurus term： manipulator ,  motion control ,  *redundancy (property) ,  degree of freedom ,  series connection ,  *robot ,  numerical calculation ,  prototype ,  *micromanipulator ,  redundancy analysis ,  multi-degree of freedom ,  virtual prototyping ,  parallel link robot ,  action and behavior
Semi thesaurus term： Virtual prototype ,  parallel robot ,  numerical calculation

JST classification (3)： Motion and control of robots  (IC04012J) ,  Reliability  (KB04040H) ,  Robot engineering in general  (IC04011S)

Reference (9)：

• D. Stewart, “A Platform with Six Degrees-of-freedom,” Proc. of Inst. Mech. Eng., 180-15, pp. 371-376, 1965.
• Y. Takeda, H. Funahashi, and H. Ichimaru, “Development of Spatial In-parallel Actuated Manipulators with Six Degrees of Freedom with High Transmissibility,” JSME Int. J., Ser. C, 40-2, pp. 299-308, 1997.
• N. Iwatsuki, I. Hayashi et. al., “Development of an Active Worktable of a Spatial In-parallel Actuated Manipulator with 6 DOF,” Proc. of 1998 ICMT, pp. 285-290, 1998.
• K. Kondoh and N. Iwatsuki, “Flexible Robot Arm Composed of Multi-stage Parallel Mechanisms,” Proc. of JSME Robotic-Mechatronics Conf. 2002, pp. 301-302, 2002 (in Japanese).
• H. Tachiya, S. Akino, M. Takeuchi, and T. Suga, “A 6DOF Hybrid Mechanism Composed of Different Parallel Mechanisms, Trans. JSME Ser. C, Vol.64, No.627, pp. 4353-4360, 1998 (in Japanese).

Terms in the title (7)： 自由度 ,  メカニズム ,  直列 ,  構築 ,  冗長性 ,  マニピュレータ ,  運動制御