@article{oai:kanazawa-u.repo.nii.ac.jp:00008127,
 author = {Hayashi, Michihiro and Tachiya, Hiroshi and Asakawa, Naoki and 林, 道大 and 立矢, 宏 and 浅川, 直紀},
 issue = {750},
 journal = {Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C},
 month = {Feb},
 note = {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., 金沢大学大学院自然科学研究科, 金沢大学医薬保健研究域薬学系},
 pages = {262--269},
 title = {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},
 volume = {75},
 year = {2009}
}