並列タイトル等ギャクウンドウガク マップ デ セイギョスル ジョウチョウ ロボット オ モチイタ ヒショウ ブッタイ ノ ホカク ノ ケンキュウ
On a tracking of flight object using redundant DOF robot controlled by inverse kinematics map
タイトル(掲載誌)愛知工業大学研究報告. B, 専門関係論文集 = Bulletin of Aichi Institute of Technology. Part B
一般注記This paper describes about high-speed control of redundant degree of freedom (DOF) robot. In general it is very difficult to solve inverse kinematics of redundant DOF robot. For the purpose of it we try to use inverse kinematics map with diffusion equation method and error correcting method. The inverse kinematics map is calculated in offline. Some examinations are made on a real robot manipulator. Sometimes the desired end point of the manipulator does not fit with calculated lattice point. Then, the mapping points have to be recalculated for correcting. We use two artificial retina tips for stereo sensing a high-speed flight object.
identifier:http://repository.aitech.ac.jp/dspace/handle/11133/1147
一次資料へのリンクURLhttp://repository.aitech.ac.jp/dspace/bitstream/11133/1147/1/%e7%b4%80%e8%a6%8136%e5%8f%b7B%28P27-33%29.pdf
連携機関・データベース国立情報学研究所 : 学術機関リポジトリデータベース(IRDB)(機関リポジトリ)