逆運動学マップで制御する冗長ロボットを用いた飛翔物体の捕獲の研究

Material type: 文書・図像類

Author: 宮田, 郁子ほか

Publisher: 愛知工業大学

Publication date: 2001-03-31

Material Format: Digital

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Note (General)：: This paper describes about high-speed control of redundant degree of freedom (DOF) robot. In general it is very difficult to solve inverse kinematics ...

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Material Type: 文書・図像類
Title: 逆運動学マップで制御する冗長ロボットを用いた飛翔物体の捕獲の研究
Author/Editor: 宮田, 郁子
安藤, 英由樹
平松, 誠治
加藤, 厚生
Author Heading: 宮田, 郁子
安藤, 英由樹
平松, 誠治
加藤, 厚生
Publication, Distribution, etc.: 愛知工業大学
Publication Date: 2001-03-31
Publication Date (W3CDTF): 2001-03-31
Alternative Title: 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
Periodical title: 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
No. or year of volume/issue: 36
Volume: 36
Pages: 27-33
ISSN (Periodical Title): ISSN : 0387-0812
Text Language Code: jpn
Target Audience: 一般
Note (General): 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
Format (IMT): application/pdf
Source: http://repository.aitech.ac.jp/dspace/bitstream/11133/1147/1/%e7%b4%80%e8%a6%8136%e5%8f%b7B%28P27-33%29.pdf
http://repository.aitech.ac.jp/dspace/bitstream/11133/1147/1/%e7%b4%80%e8%a6%8136%e5%8f%b7B%28P27-33%29.pdf
Access Restrictions: 限定公開
Data Provider (Database): 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）
https://irdb.nii.ac.jp
Original Data Provider (Database): 愛知工業大学 : 愛知工業大学学術情報リポジトリ