Research on continuous path control using clothoid curves クロイソド曲線を用いたCP制御に関する研究

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著者

    • Salvador, Florante R サルバドール, フロランテ

書誌事項

タイトル

Research on continuous path control using clothoid curves

タイトル別名

クロイソド曲線を用いたCP制御に関する研究

著者名

Salvador, Florante R

著者別名

サルバドール, フロランテ

学位授与大学

山梨大学

取得学位

博士 (工学)

学位授与番号

甲第41号

学位授与年月日

1996-03-22

注記・抄録

博士論文

目次

  1. TABLE OF CONTENTS / p1 (0004.jp2)
  2. 1 INTRODUCTION / p1 (0011.jp2)
  3. 1.1 Background of the Study / p1 (0011.jp2)
  4. 1.2 Statement of the Problem / p3 (0013.jp2)
  5. 1.3 Research Objectives / p4 (0014.jp2)
  6. 1.4 Summary of Contents / p4 (0014.jp2)
  7. 2 CLOTHOID CURVE / p7 (0017.jp2)
  8. 2.1 Planar Curve Segment / p7 (0017.jp2)
  9. 2.2 Finite Clothoid Curve / p8 (0018.jp2)
  10. 2.3 Geometric Characterization of a Finite Clothoid Curve / p10 (0020.jp2)
  11. 2.4 Evaluating the Clothoid Curve Equation / p15 (0025.jp2)
  12. 2.5 Affine Transformations on Clothoid Curves / p15 (0025.jp2)
  13. 2.6 Piecewise Continuous Clothoid Curves / p22 (0032.jp2)
  14. 2.7 Application of Clothoid Curves to Planar Point Interpolation / p25 (0035.jp2)
  15. 2.8 Chapter Summary / p35 (0045.jp2)
  16. 3 COMPARATIVE ANALYSIS OF CLOTHOID CURVE WITH POLYNOMIAL AND RATIONAL CURVES / p37 (0047.jp2)
  17. 3.1 Motivation / p37 (0047.jp2)
  18. 3.2 Cursory Review of Representative Polynomial and Rational Curves / p38 (0048.jp2)
  19. 3.3 Cubic Spline Interpolation / p49 (0059.jp2)
  20. 3.4 Comparison with a Single Clothoid Curve Segment / p50 (0060.jp2)
  21. 3.5 Comparison of Clothoid Interpolation with Cubic Spline Interpolation / p52 (0062.jp2)
  22. 3.6 Chapter Summary / p61 (0071.jp2)
  23. 4 CONTINUOUS PATH CONTROL USING CLOTHOID CURVES / p62 (0072.jp2)
  24. 4.1 General Ideas on Planning the Robot Path / p62 (0072.jp2)
  25. 4.2 Description of the Proposed Planar CP Control Method / p64 (0074.jp2)
  26. 4.3 Pulse Generation for Single Clothoid Curve / p70 (0080.jp2)
  27. 4.4 Path Generation for Multiple Clothoid Curves / p71 (0081.jp2)
  28. 4.5 Comparison With CP Control Using Cubic Spline Curves / p76 (0086.jp2)
  29. 4.6 Chapter Summary / p78 (0088.jp2)
  30. 5 EXPERIMENTAL RESULTS AND DISCUSSION / p79 (0089.jp2)
  31. 5.1 Motivation / p79 (0089.jp2)
  32. 5.2 Experimental Set-up / p79 (0089.jp2)
  33. 5.3 Software and Teaching Method / p85 (0095.jp2)
  34. 5.4 Experimental Results and Analysis / p87 (0097.jp2)
  35. 5.5 Chapter Summary / p105 (0115.jp2)
  36. 6 APPROXIMATING CARTESIAN STRAIGHT LINE PATH IN SCARA ROBOT JOINT SPACE / p106 (0116.jp2)
  37. 6.1 Motivation / p106 (0116.jp2)
  38. 6.2 Joint Trajectory Approximation / p107 (0117.jp2)
  39. 6.3 Simulation / p110 (0120.jp2)
  40. 6.4 Chapter Summary / p123 (0133.jp2)
  41. 7 CONCLUSION / p124 (0134.jp2)
  42. 7.1 Conclusion / p124 (0134.jp2)
  43. 7.2 Recommendations for Future Work / p125 (0135.jp2)
  44. BIBLIOGRAPHY / p127 (0137.jp2)
  45. APPENDICES / p131 (0141.jp2)
  46. LIST OF PUBLICATIONS / (0158.jp2)
  47. ACKNOWLEDGMENTS / (0159.jp2)
4アクセス

各種コード

  • NII論文ID(NAID)
    500000132576
  • NII著者ID(NRID)
    • 8000000132847
  • DOI(NDL)
  • NDL書誌ID
    • 000000296890
  • データ提供元
    • NDL-OPAC
    • NDLデジタルコレクション
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