Optimal Trajectory Design of Variable Geometry Truss
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- Yoshimura Hiroaki
- Waseda University
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- Oshima Ryozo
- Waseda University Graduate School
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- Oka Hiroshi
- Waseda University Graduate School
Bibliographic Information
- Other Title
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- 展開型トラス構造物の最適軌道計画
Description
We investigate optimal control design of a planar variable geometry truss. Due to high redundancy of the system, we need some systematic optimal trajectory design of generating a motion of the whole system for a required tip motion. Then, we shall propose an algorithm of optimal trajectory design based on inverse kinematics and dynamics. Lastly, we shall illustrate numerical results in simulation.
Journal
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- Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
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Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers SCI06 (0), 253-253, 2006
The Institute of Systems, Control and Information Engineers
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Details 詳細情報について
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- CRID
- 1390282680598696704
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- NII Article ID
- 130004667869
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- Article Type
- journal article
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- Data Source
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- JaLC
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed
