非ホロノミック拘束系の最適軌道計画に関する研究　第１報　　関数近似解析法の提案

• 今津 篤志

• 小野 京右

書誌事項

タイトル別名

• Optimum Trajectory Planning Method for a System that Includes Passive Joints. 1st Report. Proposal of a function approximation method.
• ヒ ホロノミック コウソクケイ ノ サイテキ キドウ ケイカク ニカンスルケン

抄録

We have proposed a new optimum trajectory planning method for a system with nonholonomic constraints due to passive joints based on a function approximation method. The trajectory is approximated by a linear combination of Hermite functions and Fourier series. The combination variables are solved by a nonlinear programming method that considers the constraints in the same function space as that of the trajectory. We have examined the validity and features of this method by applying it to the optimum trajectory planning of a steady giant swing motion. It is found that this method has efficient convergence characteristics in regards to iteration calculation and can provide accurate solutions depending on the order number of the approximating functions. Optimum giant swings with no input torque can be obtained for various motion periods.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 64 (618), 516-522, 1998

  一般社団法人 日本機械学会

キーワード

• Motion Control
• Optimal Control
• Bio-Motion
• Trajectory Planning Method
• Non-holonomic Constraint
• Function Approximation Method

詳細情報

• CRID: 1390282681305584640
• NII論文ID: 130004232603
• NII論文ID: 110002383570
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.64.516
• ISSN: 18848354
• ISSN: 03875024
• NDL書誌ID: 4413098
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4413098
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/64/618/64_618_516/_pdf
• 本文言語コード: ja
• データソース種別:
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  • NDL
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• 抄録ライセンスフラグ: 使用不可