仮想ダイナミクスを用いた複数マニピュレータの分散的軌道生成法
日本機械学会論文集(C編) Volume 59 Issue 568
Page 3822-3829
published_at 1993-12
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この文献の参照には次のURLをご利用ください : https://ir.lib.hiroshima-u.ac.jp/00014658
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種類 :
fulltext
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Title ( jpn ) |
仮想ダイナミクスを用いた複数マニピュレータの分散的軌道生成法
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Title ( eng ) |
Distributed trajectory generation for multiple manipulators using virtual dynamics
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Creator |
Araki Atsushi
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Source Title |
日本機械学会論文集(C編)
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Volume | 59 |
Issue | 568 |
Start Page | 3822 |
End Page | 3829 |
Keywords |
mechatronics
robotics
manipulator
computer control
trajectory generation
distributed system
cooperative task
virtual dynamics
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Descriptions |
This paper proposes a trajectory generation method for multiple manipulators through cooperative and competitive interactions among subsystems corresponding to each manipulator. The method can generate the trajectories of multiple manipulators in a parallel and distributed way using virtual dynamics. The virtual dynamics for each manipulator result in virtual interaction forces which represent the interaction among manipulators. It is shown that the method is effective not only for simple cooperative tasks such as positioning a common object, but also for more complicated tasks including relative motions among manipulators.
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NDC |
Mechanical engineering [ 530 ]
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Language |
jpn
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Resource Type | journal article |
Publisher |
日本機械学会
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Date of Issued | 1993-12 |
Rights |
Copyright(c) 1993 日本機械学会
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Publish Type | Version of Record |
Access Rights | open access |
Source Identifier |
[ISSN] 0387-5024
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