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Design of a Desirable Trajectory and Convergent Control for 3-D.O.F Manipulator with a Nonholonomic Constraint
http://hdl.handle.net/2297/35233
http://hdl.handle.net/2297/352335da44bb8-81b9-40c0-9fab-b31adf5856d3
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-WATANABE-T-2684.pdf (196.1 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 | Design of a Desirable Trajectory and Convergent Control for 3-D.O.F Manipulator with a Nonholonomic Constraint | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 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 |
Yoshikawa, Tsuneo
× Yoshikawa, Tsuneo× Kobayashi, Keigo× Watanabe, Tetsuyou |
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| 書誌情報 |
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 号 2, p. 1805-1810, 発行日 2000-01-01 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 1050-4729 | |||||
| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | 10.1109/ROBOT.2000.844857 | |||||
| 出版者 | ||||||
| 出版者 | IEEE | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | This paper is concerned with control of a 3 link planar underactuated manipulator whose most distal joint is unactuated. This system is known as a second order nonholonomic system. In a previous paper, we proposed a control law that guarantees the convergence of its state to a given desirable trajectory and to any desired final point. We also gave a design method of the desirable trajectory, but this method has a limitation on the location of the initial state. In the present paper, we propose a design method of a desirable trajectory that starts from any given initial point, converges to any given desired final point, and on the way passes through any given desired passing point that can be specifyed rather freely. By this new design method, we can derive a desirable trajectory that satisfies given requirements much better than the previous method. | |||||
| 著者版フラグ | ||||||
| 出版タイプ | AM | |||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||
