{"created":"2023-05-15T10:31:56.430535+00:00","id":28558,"links":{},"metadata":{"_buckets":{"deposit":"10387fa4-d7d1-4a77-95dc-212f078c27d9"},"_deposit":{"created_by":1,"id":"28558","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"28558"},"status":"published"},"_oai":{"id":"oai:u-fukui.repo.nii.ac.jp:00028558","sets":["2403:2200:2201"]},"author_link":["80968"],"item_10006_date_granted_11":{"attribute_name":"学位授与年月日","attribute_value_mlt":[{"subitem_dategranted":"2009-03-30"}]},"item_10006_degree_grantor_9":{"attribute_name":"学位授与機関","attribute_value_mlt":[{"subitem_degreegrantor":[{"subitem_degreegrantor_name":"福井大学"}],"subitem_degreegrantor_identifier":[{"subitem_degreegrantor_identifier_name":"工博甲第3","subitem_degreegrantor_identifier_scheme":"kakenhi"}]}]},"item_10006_degree_name_8":{"attribute_name":"学位名","attribute_value_mlt":[{"subitem_degreename":"博士(工学)"}]},"item_10006_description_7":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This research is concerned with a real-time control system of trajectory tracking and obstacle avoidance using an avoidance manipulability measure for redundant manipulators. To perform predetermined end-effector trajectory-tracking task adaptively without path-planning for avoidance, information on the local environment is naturally restricted by limited recognition time. This means adaptive configuration control has to manage its shape in real-time and without adequate information on its surroundings. Therefore, when the manipulator executes atask adaptively in a dynamic environment, its avoidance manipulability should always be kept as high as possible to prepare for sudden avoidance action. As a measure to gauge the avoidance manipulability based on non-collision, we firstly propose a new index,\"AMSIP\". By combining a concept of \"preview control\" with real-time optimization of AMSIP distribution found by \"1-step GA\", we propose a new real-time configuration control method, with future information being referred locally but effectively. The proposed system has been shown that it is feasible and practical by simulations in terms of real-time configuration optimization. Avoidance manipulability is a new important concept in this research, which is inspired from manipulability. The manipulability represents the ability to generate velocity at the tip of each link without any designated end-effector task. The avoidance manipulability represents the shape-changeability (avoidance ability) of intermediate links when a prior end-effector task is given. Here, the intermediate links denote the all links of the redundant manipulator except the top link with the end-effector since the top link is used to excute the prior task. The avoidance matrix, ^1M_i(i=1,・・・,n-1), is used for analyzing avoidance manipulability of the i-th intermediate link, rank(^1M_i) indicates the shape-changeable space expansion and the singular values of ^1M_i indicate the avoidance ability in the typical direction in the shape-changeable space. As the most essential condition to devise the robot's configuration controller that can always keep the avoidance manipulability high and to build the framework discussing shape-changeability under the prior end-effector task, we analyze what assumption guarantees mathematically the sustainability of the shape-changeable space, that is rank(^1M_i). Then we prove that \"Non-Singular Configuration Assumptions\" we presented can assure rank(^1M_i) through detailed decomposition analysis of ^1M_i. Non-Singular Configuration Assumptions have not been integrated into our current configuration control system, but they have an ability for presenting yardstick to maintain the sustainability of avoidance space expansion.","subitem_description_type":"Abstract"}]},"item_10006_dissertation_number_12":{"attribute_name":"学位授与番号","attribute_value_mlt":[{"subitem_dissertationnumber":"15号"}]},"item_10006_version_type_18":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"open access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_abf2"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"ZHANG, Tongxiao"}],"nameIdentifiers":[{"nameIdentifier":"80968","nameIdentifierScheme":"WEKO"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2020-08-05"}],"displaytype":"detail","filename":"zhang.pdf","filesize":[{"value":"5.5 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"zhang.pdf","url":"https://u-fukui.repo.nii.ac.jp/record/28558/files/zhang.pdf"},"version_id":"69b59e07-ee62-490a-992d-af18467f517e"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"doctoral thesis","resourceuri":"http://purl.org/coar/resource_type/c_db06"}]},"item_title":"Real-Time Configuration Control System for Redundant Manipulators and Analysis of Avoidance Space","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Real-Time Configuration Control System for Redundant Manipulators and Analysis of Avoidance Space"},{"subitem_title":"冗長マニピュレータの実時間形状制御システムと回避空間の分析","subitem_title_language":"en"}]},"item_type_id":"10006","owner":"1","path":["2201"],"pubdate":{"attribute_name":"公開日","attribute_value":"2009-10-01"},"publish_date":"2009-10-01","publish_status":"0","recid":"28558","relation_version_is_last":true,"title":["Real-Time Configuration Control System for Redundant Manipulators and Analysis of Avoidance Space"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-05-15T12:33:07.392834+00:00"}