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
アクセス数 : 885
ダウンロード数 : 109

今月のアクセス数 : 6
今月のダウンロード数 : 3
File
J_041.pdf 653 KB 種類 : fulltext
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
Title ( eng )
Distributed trajectory generation for multiple manipulators using virtual dynamics
Creator
Araki Atsushi
Source Title
日本機械学会論文集(C編)
Volume 59
Issue 568
Start Page 3822
End Page 3829
Keywords
mechatronics
robotics
manipulator
computer control
trajectory generation
distributed system
cooperative task
virtual dynamics
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.
NDC
Mechanical engineering [ 530 ]
Language
jpn
Resource Type journal article
Publisher
日本機械学会
Date of Issued 1993-12
Rights
Copyright(c) 1993 日本機械学会
Publish Type Version of Record
Access Rights open access
Source Identifier
[ISSN] 0387-5024