Art

J-GLOBAL ID：200902031676080826   Reference number：87A0058511

Planning of shortened-time joint trajectories of manipulators with geometric path constraints.

空間径路が指定されるマニピュレータ動作の時間短縮

Author (4)： OZAKI HIROAKI (九大 工) ,  HIDETA TAMOTSU (九大 工) ,  YAMAMOTO MOTOJI (九大 工) ,  MORI AKIRA (九大 工)
Material： 計測自動制御学会論文集  (Transactions of the Society of Instrument and Control Engineers)
Volume： 22  Issue： 10  Page： 1074-1080  Publication year： Oct. 1986 
JST Material Number： S0104A  ISSN： 0453-4654  CODEN： KJSRA  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： JAPANESE (JA)

Thesaurus term： manipulator ,...

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JST classification (2)： Industrial robots  (IC04020M) ,  System design and analysis  (IA02030D)

Reference (9)：

• 1) J.Y.S. Luh and C.S. Lin: Optimum Path Planning for Mechanical Manipulators, Trans. of ASME, J. of Dyn. Sys. Meas. and Contr., G-102-6, 142/151 (1981)
• 2) C.S. Lin, P.R. Chang and J.Y.S. Luh: Formulation and Optimization of Cubic Polynomial Joint Trajectories for Industrial Robots, IEEE Trans. Automatic Control, AC-28-12, 1066/1074 (1983)
• 3) S. Dubowsky and Z. Shiller: Optimum Dynamic Trajectories for Robotic Manipulators, Procs. of RoManSy, 5th CISM-IFToMM Symp., 133/143 (1984)
• 4) K.G. Shin and N.D. Mckay: Mimimum-Time Control of Robotic Manipulators with Geometric Path Constraints, IEEE Trans. Automatic Control, AC-30-6, 531/541 (1985)
• 5) R.P. Paul: Robot Manipulators-Mathematics, Programming, and Control-, The MIT Press, 157/172 (1982)

Terms in the title (3)： 径路 ,  マニピュレータ ,  時間短縮