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Manipulability analysis of a snake robot without lateral constraint for head position control
https://uec.repo.nii.ac.jp/records/9343
https://uec.repo.nii.ac.jp/records/934398ce4a6e-274d-40db-8b06-7301183fa49c
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
2019_asjc (701.6 kB)
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| アイテムタイプ | 学術雑誌論文 / Journal Article(1) | |||||||||
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| 公開日 | 2019-09-19 | |||||||||
| タイトル | ||||||||||
| タイトル | Manipulability analysis of a snake robot without lateral constraint for head position control | |||||||||
| 言語 | en | |||||||||
| 言語 | ||||||||||
| 言語 | eng | |||||||||
| キーワード | ||||||||||
| 言語 | en | |||||||||
| 主題 | Controllability | |||||||||
| キーワード | ||||||||||
| 言語 | en | |||||||||
| 主題 | Dynamical model | |||||||||
| キーワード | ||||||||||
| 言語 | en | |||||||||
| 主題 | Head trajectory tracking | |||||||||
| キーワード | ||||||||||
| 言語 | en | |||||||||
| 主題 | Hyper redundant manipulator,Manipulability | |||||||||
| キーワード | ||||||||||
| 言語 | en | |||||||||
| 主題 | Snake robot | |||||||||
| 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 |
Ariizumi, Ryo
× Ariizumi, Ryo
× Tanaka, Motoyasu
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| 抄録 | ||||||||||
| 内容記述タイプ | Abstract | |||||||||
| 内容記述 | Two dynamic manipulability criteria of a snake robot with sideways slipping are proposed with the application to head trajectory tracking control in mind. The singular posture, which is crucial in head tracking control, is characterized by the manipulability and examined for families of typical robot shapes. Differences in the singular postures from those of the robot with lateral constraints, which have not been clear in previous studies, are clarified in the analysis. In addition to the examination of local properties using the concept of manipulability, we discuss the effect of isotropic friction as a global property. It is well known that, at least empirically, a snake robot needs anisotropy in friction to move by serpentine locomotion if there are no objects for it to push around. From the point of view of integrability, we show one of the necessary conditions for uncontrollability is satisfied if the friction is isotropic. | |||||||||
| 書誌情報 |
en : Asian Journal of Control p. 1-17, 発行日 2019-05-01 |
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| 出版者 | ||||||||||
| 出版者 | Wiley | |||||||||
| ISSN | ||||||||||
| 収録物識別子タイプ | ISSN | |||||||||
| 収録物識別子 | 1561-8625 | |||||||||
| DOI | ||||||||||
| 関連タイプ | isVersionOf | |||||||||
| 識別子タイプ | DOI | |||||||||
| 関連識別子 | 10.1002/asjc.2118 | |||||||||
| 権利 | ||||||||||
| 権利情報 | © 2019 Chinese Automatic Control Society and John Wiley & Sons Australia, Ltd. | |||||||||
| 関連サイト | ||||||||||
| 識別子タイプ | DOI | |||||||||
| 関連識別子 | https://doi.org/10.1002/asjc.2118 | |||||||||
| 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 | |||||||||
