An object grasp motion model using control signal and cylinder pressure in demolition machines for disaster response work

研究成果: Paper査読

1 被引用数 (Scopus)

抄録

The purpose of this paper is to model and identify an object grasp motion, which is a requisite condition to make a demolition machine grasp an object. Grasping an object is a highly difficult task that requires safe and precise operations, so identifying a grasp or non-grasp is necessary for providing operational support, particularly in disaster response work. These types of outdoor machines lack visual and tactile sensors, so practically available lever operation and cylinder pressure sensors are adopted. The grasp motion is modeled by using sequential transitions of the on-off state of the control signal and cylinder pressure data for the grapple and the manipulator. The results of experiments conducted to transport objects using an instrumented hydraulic arm indicated that the modeled grasp motion effectively identifies a grasp or non-grasp with high accuracy, independently of operators and environments.

本文言語English
ページ307-312
ページ数6
出版ステータスPublished - 2013 1 1
イベント2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan
継続期間: 2013 9 142013 9 17

Conference

Conference2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013
国/地域Japan
CityNagoya
Period13/9/1413/9/17

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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