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ID 14182
file
creator
Jazidie, Achmad
Kaneko, Makoto
NDC
Mechanical engineering
abstract
A trajectory generation method for multi-arm robotsthrough cooperative and competitive interactions among multipleend-effectors is proposed. The method can generate the trajectories ofthe multiple arms in a distributed manner based on a concept of a virtualinteraction force which represents an interaction between an end-effectorand an environment. It is shown that the method is effective not only forsimple cooperative tasks such as positioning a common object, but alsofor more complicated tasks including relative motions among arms.
journal title
IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics
volume
Volume 27
issue
Issue 5
start page
862
end page
867
date of issued
1997
publisher
IEEE
issn
1083-4419
publisher doi
language
eng
nii type
Journal Article
HU type
Journal Articles
DCMI type
text
format
application/pdf
text version
publisher
rights
(c) 1997 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
relation url
department
Graduate School of Engineering