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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Bibliographic Information
- Title
-
Research on continuous path control using clothoid curves
- Other Title
-
クロイソド曲線を用いたCP制御に関する研究
- Author
-
Salvador, Florante R
- Author(Another name)
-
サルバドール, フロランテ
- University
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山梨大学
- Types of degree
-
博士 (工学)
- Grant ID
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甲第41号
- Degree year
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1996-03-22
Note and Description
博士論文
Table of Contents
- TABLE OF CONTENTS / p1 (0004.jp2)
- 1 INTRODUCTION / p1 (0011.jp2)
- 1.1 Background of the Study / p1 (0011.jp2)
- 1.2 Statement of the Problem / p3 (0013.jp2)
- 1.3 Research Objectives / p4 (0014.jp2)
- 1.4 Summary of Contents / p4 (0014.jp2)
- 2 CLOTHOID CURVE / p7 (0017.jp2)
- 2.1 Planar Curve Segment / p7 (0017.jp2)
- 2.2 Finite Clothoid Curve / p8 (0018.jp2)
- 2.3 Geometric Characterization of a Finite Clothoid Curve / p10 (0020.jp2)
- 2.4 Evaluating the Clothoid Curve Equation / p15 (0025.jp2)
- 2.5 Affine Transformations on Clothoid Curves / p15 (0025.jp2)
- 2.6 Piecewise Continuous Clothoid Curves / p22 (0032.jp2)
- 2.7 Application of Clothoid Curves to Planar Point Interpolation / p25 (0035.jp2)
- 2.8 Chapter Summary / p35 (0045.jp2)
- 3 COMPARATIVE ANALYSIS OF CLOTHOID CURVE WITH POLYNOMIAL AND RATIONAL CURVES / p37 (0047.jp2)
- 3.1 Motivation / p37 (0047.jp2)
- 3.2 Cursory Review of Representative Polynomial and Rational Curves / p38 (0048.jp2)
- 3.3 Cubic Spline Interpolation / p49 (0059.jp2)
- 3.4 Comparison with a Single Clothoid Curve Segment / p50 (0060.jp2)
- 3.5 Comparison of Clothoid Interpolation with Cubic Spline Interpolation / p52 (0062.jp2)
- 3.6 Chapter Summary / p61 (0071.jp2)
- 4 CONTINUOUS PATH CONTROL USING CLOTHOID CURVES / p62 (0072.jp2)
- 4.1 General Ideas on Planning the Robot Path / p62 (0072.jp2)
- 4.2 Description of the Proposed Planar CP Control Method / p64 (0074.jp2)
- 4.3 Pulse Generation for Single Clothoid Curve / p70 (0080.jp2)
- 4.4 Path Generation for Multiple Clothoid Curves / p71 (0081.jp2)
- 4.5 Comparison With CP Control Using Cubic Spline Curves / p76 (0086.jp2)
- 4.6 Chapter Summary / p78 (0088.jp2)
- 5 EXPERIMENTAL RESULTS AND DISCUSSION / p79 (0089.jp2)
- 5.1 Motivation / p79 (0089.jp2)
- 5.2 Experimental Set-up / p79 (0089.jp2)
- 5.3 Software and Teaching Method / p85 (0095.jp2)
- 5.4 Experimental Results and Analysis / p87 (0097.jp2)
- 5.5 Chapter Summary / p105 (0115.jp2)
- 6 APPROXIMATING CARTESIAN STRAIGHT LINE PATH IN SCARA ROBOT JOINT SPACE / p106 (0116.jp2)
- 6.1 Motivation / p106 (0116.jp2)
- 6.2 Joint Trajectory Approximation / p107 (0117.jp2)
- 6.3 Simulation / p110 (0120.jp2)
- 6.4 Chapter Summary / p123 (0133.jp2)
- 7 CONCLUSION / p124 (0134.jp2)
- 7.1 Conclusion / p124 (0134.jp2)
- 7.2 Recommendations for Future Work / p125 (0135.jp2)
- BIBLIOGRAPHY / p127 (0137.jp2)
- APPENDICES / p131 (0141.jp2)
- LIST OF PUBLICATIONS / (0158.jp2)
- ACKNOWLEDGMENTS / (0159.jp2)