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Singularity Analysis of a Snake Robot and an Articulated Mobile Robot With Unconstrained Links
https://uec.repo.nii.ac.jp/records/9284
https://uec.repo.nii.ac.jp/records/9284daa595d9-6903-41de-a287-d5be27ffe9e6
名前 / ファイル | ライセンス | アクション |
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2016_TCST_Sigularity (1.5 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2019-07-23 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Singularity Analysis of a Snake Robot and an Articulated Mobile Robot With Unconstrained Links | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Singular configuration | |||||
キーワード | ||||||
言語 | en | |||||
主題 | snake robot | |||||
キーワード | ||||||
言語 | en | |||||
主題 | articulated mobile robot | |||||
キーワード | ||||||
言語 | en | |||||
主題 | unconstrained links | |||||
キーワード | ||||||
言語 | en | |||||
主題 | kinematic redundancy | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
著者 |
Tanaka, Motoyasu
× Tanaka, Motoyasu× Tanaka, Kazuo |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | In this paper, we analyze the conditions related to singular configurations with unconstrained links and present related theorems and lemmas for a snake robot and an articulated mobile robot. A snake robot and an articulated mobile robot have links that have passive or active wheels and the links are serially connected by active joints. The singular configuration should be avoided if the robots are automatically controlled because they cannot execute intended motion when they are in the singular configuration. We derive a novel necessary and sufficient condition for the singular configurations of the snake robot; this removes some limitations of the traditional condition for a snake robot without unconstrained links. We also derive the necessary and sufficient conditions for the singular configurations of the articulated mobile robot, and the structural conditions under which a real articulated mobile robot does not have a singular configuration. These conditions are proved by analyzing the elements of matrices included in the kinematic model and considering the geometrical meaning of the elements. In addition, we propose evaluation indices representing the distance from the singular configurations of a snake robot. We verify the effectiveness of these indices through simulations. | |||||
書誌情報 |
en : IEEE Transactions on Control Systems Technology 巻 24, 号 6, p. 2070-2081, 発行日 2016-11 |
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出版者 | ||||||
出版者 | IEEE | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 1063-6536 | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.1109/TCST.2016.2528888 | |||||
権利 | ||||||
権利情報 | © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. This is not the published version. Please cite only the published version. | |||||
関連サイト | ||||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1109/TCST.2016.2528888 | |||||
著者版フラグ | ||||||
出版タイプ | AM | |||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa |