Time Optimal Path-Tracking Control of Kinematically Redundant Manipulators
スポンサーリンク
概要
- 論文の詳細を見る
In this study, we propose a time optimal control scheme for kinematically redundant manipulators to track a predefined geometric path, subject to joint torque limits. The scheme can make full use of redundancy to increase the path-tracking velocity, and the time optimal trajectory planning problem is solved by using the phase-plane analysis and the linear programming technique. Computer simulation is also executed on a three-link planar rotary manipulator to show that, 1) the redundancy of the manipulator is fully used to increase the path-tracking velocity, and 2) redundant joints plus one more joint use their bound values of torque all the time while the time optimal path-tracking task is performed.
- 一般社団法人日本機械学会の論文
- 2004-06-15
著者
関連論文
- Dynamic redundancy resolution of redundant manipulators with local optimization of a kinematic criterion
- Development of a hyper-redundant multijoint manipulator for maintenance of nuclear reactors
- Analysis of creeping locomotion of a snake-like robot
- 2A1-G03 Experiments on Energy Saving Control Methods for Multi-Joint Robots with Elastic Elements
- 1A1-A21 Energy Saving Motion of Multi-Joint Robots Through Stiffness Adaptation and DFC
- Impact Analysis of a Dual-Crawler-Driven Robot
- Time-optimal control of kinematically redundant manipulators with limit heat characteristics of actuators
- Minimum-time control of coupled tendon-driven manipulators
- Time Optimal Path-Tracking Control of Kinematically Redundant Manipulators
- A Dynamic Approach to Real-Time Obstacle Avoidance Control of Redundant Manipulators
- Time-optimal control of robotic manipulators with limit heat characteristics of the actuator
- A kinetostatic index to measure the task-executing ability of robotic manipulators with limit-driven characteristics of actuators
- Stiffness Design of Springs for a Screw Drive In-Pipe Robot to Pass through Curved Pipes and Vertical Straight Pipes
- Development of a Modular Crawler for Tracked Robots
- 2A1-K11 A Novel Snake-like Robot with Multi Gaits(Environmentally-Adapted Mechanism and Control)