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発見的手法を用いた多自由度マニピュレータの軌道決定
https://doi.org/10.24517/00008114
https://doi.org/10.24517/00008114273b35b3-be1b-4c96-ab45-344f79da2757
名前 / ファイル | ライセンス | アクション |
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TE-PR-HAYASHI-M-262.pdf (269.6 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2017-10-03 | |||||
タイトル | ||||||
タイトル | 発見的手法を用いた多自由度マニピュレータの軌道決定 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Determination of trajectory for a multi-DOF manipulator by heuristic algorithms (implementation approach for the suppression of dynamic torque of a steel sheet handling: manipulator) | |||||
言語 | ||||||
言語 | jpn | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
ID登録 | ||||||
ID登録 | 10.24517/00008114 | |||||
ID登録タイプ | JaLC | |||||
著者 |
林, 道大
× 林, 道大× 立矢, 宏× 浅川, 直紀 |
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著者別表示 |
Hayashi, Michihiro
× Hayashi, Michihiro× Tachiya, Hiroshi× Asakawa, Naoki |
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提供者所属 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 金沢大学大学院自然科学研究科 | |||||
提供者所属 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 金沢大学医薬保健研究域薬学系 | |||||
書誌情報 |
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C 巻 75, 号 750, p. 262-269, 発行日 2009-02-01 |
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ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 0387-5024 | |||||
出版者 | ||||||
出版者 | 日本機械学会 = the Japan Society of Mechanical Engineers | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper proposes a method to determine a trajectory with suppressed dynamic torque for a multi-DOF manipulator by a heuristic algorithm. Generally, optimization for a trajectory considering dynamic property of a multi-DOF manipulator is difficult since it has nonlinear and multi-peak characteristics. Although a lot of studies proposed the methods to optimize its trajectory, they often need complicated operation and calculation. Those methods are not always adapted to actual multi- DOF manipulators. Thus, a practical method using a heuristic algorithm that does not need complicated mathematical calculations is presented. In this paper, we aim to suppress required torques of the input joints of a manipulator in the solution. As a case study, we apply the method to an actual steel sheet handling manipulator over 1 500 kg in weighs with 5-DOF. From the experimental result, it is found to be effective to determine the trajectory with suppressed torques of the input joints for the manipulator maintaining the required working conditions. | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 |