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ロボットマニピュレータの最適軌道計画
https://ous.repo.nii.ac.jp/records/836
https://ous.repo.nii.ac.jp/records/836502fd360-b1e4-49e5-9c6c-500bad02086e
名前 / ファイル | ライセンス | アクション |
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KJ00000063389.pdf (406.4 kB)
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Item type | 紀要論文(ELS) / Departmental Bulletin Paper(1) | |||||||||||||||||
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公開日 | 1989-03-20 | |||||||||||||||||
タイトル | ||||||||||||||||||
言語 | ja | |||||||||||||||||
タイトル | ロボットマニピュレータの最適軌道計画 | |||||||||||||||||
タイトル | ||||||||||||||||||
言語 | en | |||||||||||||||||
タイトル | A Optimal Trajectory Planning of Robotic Manipulators | |||||||||||||||||
タイトル | ||||||||||||||||||
言語 | ja-Kana | |||||||||||||||||
タイトル | ロボット マニピュレータ ノ サイテキ キドウ ケイカク | |||||||||||||||||
言語 | ||||||||||||||||||
言語 | jpn | |||||||||||||||||
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 | departmental bulletin paper | |||||||||||||||||
ページ属性 | ||||||||||||||||||
内容記述タイプ | Other | |||||||||||||||||
内容記述 | P(論文) | |||||||||||||||||
著者名 |
逢坂, 一正
× 逢坂, 一正
× 倉橋, 康浩
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著者所属(日) | ||||||||||||||||||
ja | ||||||||||||||||||
岡山理科大学機械工学科 | ||||||||||||||||||
著者所属(日) | ||||||||||||||||||
ja | ||||||||||||||||||
牧野フライス製作所 | ||||||||||||||||||
著者所属(英) | ||||||||||||||||||
en | ||||||||||||||||||
Department of Mechanical Engineering, Okayama University of Science | ||||||||||||||||||
著者所属(英) | ||||||||||||||||||
en | ||||||||||||||||||
MAKINO MILLING MACHINE Co. Ltd. | ||||||||||||||||||
抄録(英) | ||||||||||||||||||
内容記述タイプ | Other | |||||||||||||||||
内容記述 | This paper presents a method for optimal trajectory planning of robotic maniplators of which all joints are rotational. When the start and end points of end effector are given in the Cartesian coordinates, Fourier coefficients representing each joint velocity and interval of motion which specify the optimal trajectory in joint coordinates are searched by using the method of steepest descent. As numerical examples, the trajectories of three-link manipurator are simulated. And it is confirmed that the optimal trajectory is generated by the proposed method. | |||||||||||||||||
言語 | en | |||||||||||||||||
雑誌書誌ID | ||||||||||||||||||
収録物識別子タイプ | NCID | |||||||||||||||||
収録物識別子 | AN00033244 | |||||||||||||||||
書誌情報 |
ja : 岡山理科大学紀要. A, 自然科学 en : Bulletin of Okayama University of Science. A, Natural Sciences 巻 24, p. 297-306, 発行日 1989-03-20 |