@inproceedings{beb6c24c4121435796376926714d2c4c,
title = "Realization of turning a screw crank with less control inputs by using redundant degrees of freedom of a manipulator",
abstract = "When a manipulator installing a position controller turns a screw crank, excessive inputs often happen due to installation errors. We solve the issue by using environment adaptation effect of robot's redundant degrees of freedom. The experimental results demonstrated that the manipulator specifying the only two control variables has successfully completed the task in the maximum error norms of 0.18[mm] without any excessive control inputs or any unexpected motions of the uncontrolled variables, in comparison with 5.02[mm] in the use of six control variables.",
keywords = "Jacobian transpose, Kinematic constraints, Manipulation, Redundant degrees of freedom",
author = "Takatoshi Tanaka and Masahiro Sekimoto and Morikazu Takegaki and Sadao Kawamura and Bae, {Ji Hun} and Hiroyuki Kimura",
note = "Publisher Copyright: {\textcopyright} 2017 The Society of Instrument and Control Engineers - SICE.; 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 ; Conference date: 19-09-2017 Through 22-09-2017",
year = "2017",
month = nov,
day = "10",
doi = "10.23919/SICE.2017.8105488",
language = "英語",
series = "2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "922--926",
booktitle = "2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017",
}