書誌事項
- タイトル別名
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- 1P1-Q01 Motion Planning with Hand Path Partitioning on Fast Path Tracking Constant Hand-Speed Motion using Redundant Manipulator(New Control Theory and Motion Control (1))
説明
In this paper, we propose a method of motion planning with partitioning of hand path on fast path tracking constant hand-speed motion by redundant manipulator. The hand path is partitioned to "difficult part" that is the part of difficult to move by torque limits and joint velocity limits, and "easy part" that is the part of easy to move. In the difficult part, we make motion planning that we have previously proposed, in order to get fast motion with redundant manipulator. In this time, we propose a path planning method on state-space in order to link a initial state and a terminal state that is derived by motion planning on difficult parts. And, we propose a method that gets fast path tracking constant hand-speed motion using motion plannings of easy part and difficult part.
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2014 (0), _1P1-Q01_1-_1P1-Q01_4, 2014
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001205938622080
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- NII論文ID
- 110009966738
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- ISSN
- 24243124
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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
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可