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- 岩本 憲泰
- 信州大
書誌事項
- タイトル別名
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- Forward Kinematics for Surface Robots with Piecewise Constant Curvature
抄録
<p>Since surfaces have many variables and are integrable, the control theory for robots representing arbitrary surfaces is complicated. The kinematic theory is simplified in continuum manipulators by considering a manipulator and a model with piecewise constant curvature. This paper proposes a robot and a model with piecewise constant mean curvature for surface robots and explains its forward kinematics. The robot consists of a checkerboard pattern of sections with specified mean curvature and sections with zero mean curvature. The shape of the former is known, and that of the latter can be obtained by solving a simultaneous equations to minimize the area.</p>
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 2022 (0), 2A2-K08-, 2022
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
- 1390576037461302400
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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
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- 抄録ライセンスフラグ
- 使用不可