最小消費電力によるロボット軌道解
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概要
- 論文の詳細を見る
A method to solve the trajectory generation problem in redundant degree of freedom manipulators has been proposed, in which the variational approach and the B-Spline curve are introduced for minimization of the consumed electrical energy of a robot manipulator system. In the proposed method, the inverse matrix of Jacobian calculation is not required, and the minimal trajectory error is guaranteed while minimizing the consumed electrical energy. The theory, simulation, and experiments are presented in this paper.
- 社団法人 電気学会の論文
著者
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KAWAMURA Atsuo
Yokohama National University
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HIRAKAWA Andre
Yokohama National University
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Kawamura Atsuo
Yokohama National Univ.
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