Planning of manipulator joint trajectories by an iterative method

M. Yamamoto, H. Ozaki, A. Mohri

研究成果: ジャーナルへの寄稿記事

9 引用 (Scopus)

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Manipulator joint trajectories are planned to make an arbitrary cost function as good as possible in consideration of physical constraints based on kinematics and dynamics of a manipulator system. An algorithm presented in this paper is an iteratively improving method using the local controllability of B spline. It can be also applied to the case that some points are specified and joint trajectories must pass through those points. This algorithm is applied to an example of trajectory planning of a manipulator with two links and two degrees of freedom.

元の言語英語
ページ(範囲)101-105
ページ数5
ジャーナルRobotica
6
発行部数2
DOI
出版物ステータス出版済み - 4 1988

    フィンガープリント

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Mathematics(all)
  • Computer Science Applications

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