A real-time path planning of space manipulator saving consumed energy
説明
This paper deals with a real- time path planning method of a manipulator mounted on the free-flying robot in space to save the energy consumed by the mechanical viscous friction forces and the armature's resistances of motors when operating the manipulator. For this purpose, a new concept of "manipulation ellipse under a constant consumed energy" defined in this paper, is used. The validity of the proposed method is confirmed numerically by computer simulation. >
収録刊行物
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- Proceedings of IECON'94 - 20th Annual Conference of IEEE Industrial Electronics
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Proceedings of IECON'94 - 20th Annual Conference of IEEE Industrial Electronics 2 1064-1067, 2002-12-17
IEEE