書誌事項
- タイトル別名
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- Constraint-Based Multi-Objective Trajectory Planning for Multi-Body Systems
- マルチボディ システム ノ コウソク ベース タモクテキ キドウ ケイカク
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抄録
This paper presents a method for trajectory planning of multi-body systems. First, trajectory planning of a multi-body system is formulated as a constraint solving problem on a set of variables expressing the motion of the multi-body system over a finite time interval. Constraints express kinematic and dynamical conditions, range limits as well as task achievements, and they can be assigned different priority levels. The prioritized constraint-solving problem is treated under the framework of lexicographical goal programming. The local optimality of the problem is characterized in terms of Pareto efficiency condition. Based on this observation, an algorithm that iteratively updates the variables towards a locally optimal solution is derived. The proposed trajectory planning method is applied to target-reaching tasks of 3-DOF and 6-DOF robotic manipulators.
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 31 (5), 508-516, 2013
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
- 1390001204729361408
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- NII論文ID
- 10031175944
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 024707586
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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