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多関節構造を有する機械の軌道生成に関する考察
http://hdl.handle.net/2297/42103
http://hdl.handle.net/2297/4210339e3f1fd-3b69-45fc-b122-4ba77850a205
名前 / ファイル | ライセンス | アクション |
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TE-PR-KAMIYA-Y-1966.pdf (382.8 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 | 多関節構造を有する機械の軌道生成に関する考察 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | A Study on Trajectory Generation for a Multi-Joint Robot | |||||
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 | |||||
著者 |
宋, 禄波
× 宋, 禄波× 神谷, 好承× 関, 啓明× 疋津, 正利× 張, 勤 |
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書誌情報 |
精密工学会誌 = Journal of the Japan Society for Precision Engineering 巻 67, 号 12, p. 1966-1970, 発行日 2001-01-01 |
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ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 0912-0289 | |||||
NCID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN1003250X | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.2493/jjspe.67.1966 | |||||
出版者 | ||||||
出版者 | 精密工学会 = The Japan Society for Precision Engineering | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | For a multi-joint robot, desired operations can be realized by dexterously controlling its link postures. Especially for a stance robot with multiple joints, it is possible to select a trajectory that consists of many link postures, each of which makes the load torque of all the joints as low as possible even with the limitation of no turnover. In this paper, based on the idea above, firstly the trajectories of a stance robot(3 axes) in the sit-to-stand and the squat-to-stand movements are generated with the only consideration of their static influences. Then their dynamic performances, which are obtained by adding an adjustable time interval in any two consecutive link postures are analyzed. | |||||
権利 | ||||||
権利情報 | Copyright © The Japan Society for Precision Engineering 精密工学会 | |||||
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 | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | https://www.jstage.jst.go.jp/browse/jjspe/-char/ja/ | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | http://www.jspe.or.jp/ |