このエントリーをはてなブックマークに追加
ID 14180
本文ファイル
著者
Nakayama, Seiya
Ito, Koji
NDC
機械工学
抄録(英)
The autonomous distributed control (ADC) is oneof the most attractive approaches for more versatile and autonomousrobot systems. This paper proposes a parallel anddistributed trajectory generation method for redundant manipulatorsthrough cooperative and competitive interactions amongsubsystems composing the ADC that is based on a concept ofvirtual arms. The virtual arm has the same kinematic structureas the manipulator except that its end-point is located on a jointor link of the manipulator. Then the redundant manipulatorcan be represented by a set of the virtual arms. In this paper,trajectory generation and point-to-point control of the redundantmanipulator are discussed, and it is shown that the kinematicredundancy of the manipulator can be utilized positively in thegenerated trajectories by using the virtual arms.
掲載誌名
IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics
27巻
3号
開始ページ
498
終了ページ
509
出版年月日
1997
出版者
IEEE
ISSN
1083-4419
言語
英語
NII資源タイプ
学術雑誌論文
広大資料タイプ
学術雑誌論文
DCMIタイプ
text
フォーマット
application/pdf
著者版フラグ
publisher
権利情報
Copyright (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.
関連情報URL(IsVersionOf)
http://dx.doi.org/10.1109/3477.584956
部局名
工学研究科