書誌事項
- タイトル別名
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- A Study on Trajectory Generation for a Multi-Joint Robot.
- タカンセツ コウゾウ オ ユウスル キカイ ノ キドウ セイセイ ニ カンスル コウサツ
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抄録
For a multi-joint robot, desired operations can be realized by dexterously controlling its link postures. Especially for a stance robot with multiple joints, it is possible to select a trajectory that consists of many link postures, each of which makes the load torque of all the joints as low as possible even with the limitation of no turnover. In this paper, based on the idea above, firstly the trajectories of a stance robot(3 axes) in the sit-to-stand and the squat-to-stand movements are generated with the only consideration of their static influences. Then their dynamic performances, which are obtained by adding an adjustable time interval in any two consecutive link postures are analyzed.
収録刊行物
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- 精密工学会誌
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精密工学会誌 67 (12), 1966-1970, 2001
公益社団法人 精密工学会
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詳細情報 詳細情報について
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- CRID
- 1390282679774798848
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- NII論文ID
- 110001373083
- 10008210929
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- NII書誌ID
- AN1003250X
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- ISSN
- 1882675X
- 09120289
- http://id.crossref.org/issn/09120289
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- NDL書誌ID
- 6078346
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- IRDB
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可