線倣い作業のためのマニピュレータ姿勢評価指標 [in Japanese] Performance Indices of Manipulators for Line-Tracing Task [in Japanese]
Access this Article
Search this Article
A new performance index is proposed for evaluating a single manipulator's configuration along a line to be traced. It depends on the manipulator's kinematics and the tracing-line's geometric information. Using this index, another index is proposed for planning cooperative motion sequences among multiple manipulators for a line-tracing task. The usefulness of these indices has been shown by some simulations.
JRSJ 16(6), 785-790, 1998-09-15
The Robotics Society of Japan