高速打撃動作における多関節マニピュレータのハイブリッド軌道生成  [in Japanese] Hybrid Trajectory Generation of an Articulated Manipulator for High-speed Batting  [in Japanese]

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Author(s)

    • 妹尾 拓 SENOO Taku
    • 東京大学大学院情報理工学系研究科 Graduate School of Information Science and Technology, University of Tokyo
    • 並木 明夫 NAMIKI Akio
    • 東京大学大学院情報理工学系研究科 Graduate School of Information Science and Technology, University of Tokyo

Abstract

Speeding up of robot motion provides not only improvement in operating efficiency but also dexterous manipulation using unstable state or non-contact state. To produce high-speed manipulation, we have developed a robot system with 1 [kHz] vision sensors. In this paper, a hybrid trajectory generator is proposed so as to get high performance out of high-speed robot system. This algorithm consists of both mechanical high-speed motion and sensor-based reactive motion to target movement. As an example of high-speed manipulation, a robotic batting task have been achieved. In addition, performance evaluation based on manipulator dynamics and system constraint is analyzed.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 24(4), 515-522, 2006-05-15

    The Robotics Society of Japan

References:  12

Cited by:  5

Codes

  • NII Article ID (NAID)
    10017484686
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • Article Type
    Journal Article
  • ISSN
    02891824
  • NDL Article ID
    7963793
  • NDL Source Classification
    ZN11(科学技術--機械工学・工業)
  • NDL Call No.
    Z16-1325
  • Data Source
    CJP  CJPref  NDL  J-STAGE 
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