書誌事項
- タイトル別名
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- Hybrid Trajectory Generation of an Articulated Manipulator for High-speed Batting
- コウソク ダゲキ ドウサ ニ オケル タカンセツ マニピュレータ ノ ハイブリッド キドウ セイセイ
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抄録
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.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 24 (4), 515-522, 2006
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204725876864
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- NII論文ID
- 10017484686
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 7963793
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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
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可