Motion planning of flexible manipulator フレキシブルマニピュレータの動作計画

Access this Article

Search this Article

Author

    • Sarkar, Pritam Kumar サルカール, プリタム クマール

Bibliographic Information

Title

Motion planning of flexible manipulator

Other Title

フレキシブルマニピュレータの動作計画

Author

Sarkar, Pritam Kumar

Author(Another name)

サルカール, プリタム クマール

University

九州大学

Types of degree

博士(工学)

Grant ID

甲第4724号

Degree year

1999-03-25

Note and Description

博士論文

Table of Contents

  1. Contents / (0003.jp2)
  2. 1.Introduction / p1 (0005.jp2)
  3. 1.1 General Overview / p1 (0005.jp2)
  4. 1.2 Motion Planning / p8 (0012.jp2)
  5. 1.3 Scope of Present Work / p11 (0015.jp2)
  6. 1.4 Summary / p14 (0018.jp2)
  7. 2.Flexible Arm Modeling / p15 (0019.jp2)
  8. 2.1 Introduction / p15 (0019.jp2)
  9. 2.2 Finite Element Model / p17 (0021.jp2)
  10. 2.3 Flexible-Arm Kinematics / p19 (0023.jp2)
  11. 2.4 Dynamic Equations of Motion / p21 (0025.jp2)
  12. 2.5 Numerical Method / p25 (0029.jp2)
  13. 2.6 Summary / p26 (0030.jp2)
  14. 3.Path Planning / p27 (0031.jp2)
  15. 3.1 Introduction / p27 (0031.jp2)
  16. 3.2 Problem Formulation / p28 (0032.jp2)
  17. 3.3 Path Generation / p29 (0033.jp2)
  18. 3.4 Numerical Algorithm / p32 (0036.jp2)
  19. 3.5 Simulation Examples / p35 (0039.jp2)
  20. 3.6 Summary / p44 (0048.jp2)
  21. 4. Trajectory Planning / p45 (0049.jp2)
  22. 4.1 Introduction / p45 (0049.jp2)
  23. 4.2 Problem Formulation / p47 (0051.jp2)
  24. 4.3 Trajectory Generation / p49 (0053.jp2)
  25. 4.4 Numerical Algorithm / p50 (0054.jp2)
  26. 4.5 Simulation Examples / p55 (0059.jp2)
  27. 4.6 Summary / p60 (0064.jp2)
  28. 5.Time-Optimal Planning / p61 (0065.jp2)
  29. 5.1 Introduction / p61 (0065.jp2)
  30. 5.2 Problem Formulation / p62 (0066.jp2)
  31. 5.3 Trajectory Generation / p64 (0068.jp2)
  32. 5.4 Numerical Algorithm / p65 (0069.jp2)
  33. 5.5 Simulation Examples / p67 (0071.jp2)
  34. 5.6 Summary / p74 (0078.jp2)
  35. 6.Optimal Tracking Error Algorithm / p76 (0080.jp2)
  36. 6.1 Introduction / p76 (0080.jp2)
  37. 6.2 Problem and Approach / p78 (0082.jp2)
  38. 6.3 Problem Formulation / p79 (0083.jp2)
  39. 6.4 Trajectory Generation / p82 (0086.jp2)
  40. 6.5 Numerical Algorithm / p82 (0086.jp2)
  41. 6.6 Simulation Examples / p85 (0089.jp2)
  42. 6.7 Summary / p95 (0099.jp2)
  43. 7.Conclusions / p96 (0100.jp2)
  44. 7.1 Concluding Remarks / p96 (0100.jp2)
  45. 7.2 Future Extensions / p102 (0106.jp2)
  46. Acknowledgments / p103 (0107.jp2)
  47. Appendix A.Two-Link Flexible Arm Model / p104 (0108.jp2)
  48. A.1 Modeling Approach / p104 (0108.jp2)
  49. A.2 Kinetic Energy Computaton / p106 (0110.jp2)
  50. A.3 Potential Energy Computaton / p110 (0114.jp2)
  51. A.4 Boundary Conditions / p111 (0115.jp2)
  52. A.5 Final Dynamic Model / p112 (0116.jp2)
  53. Appendix B.Combined Fourier Series and Polynomial Function / p114 (0118.jp2)
  54. Bibliography / p117 (0121.jp2)
3access

Codes

  • NII Article ID (NAID)
    500000171700
  • NII Author ID (NRID)
    • 8000000171974
  • DOI(NDL)
  • NDLBibID
    • 000000336014
  • Source
    • NDL ONLINE
    • NDL Digital Collections

Export

Page Top