Art

J-GLOBAL ID：200902038884404486   Reference number：89A0041428

Redundancy decomposition control for multi-joint manipulators.

多関節マニピュレータの冗長性分解制御

Author (2)： HIROSE SHIGEO (東京工大 工) ,  MA S G (東京工大 工)
Material： 計測自動制御学会論文集  (Transactions of the Society of Instrument and Control Engineers)
Volume： 24  Issue： 9  Page： 954-959  Publication year： Sep. 1988 
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 ,...

   To see more with JDream III (charged).   {{ this.onShowAbsJLink("http://jdream3.com/lp/jglobal/index.html?docNo=89A0041428&from=J-GLOBAL&jstjournalNo=S0104A") }}

JST classification (1)： ロボット工学一般【’81~’92】  (IC04010B)

Reference (8)：

• 1) J.Y.S. Luh, et al.: Resolved-Acceleration Control of Mechanical Manipulators, IEEE Trans. Automatic Control, AC-25-3, 468/474 (1980)
• 2) O. Khatib.: Dynamic Control of Manipulators in Operational Space, Proc. 6th IFToMM World Cong. Theory of Machines and Mechanisms, 15/20 (1983)
• 3) J.M. Hollerbach, et al.: Redundancy Resolution of Manipulators through Torque Optimization, IEEE Journal of Robotics and Automation, RA-3-4, 308/316 (1985)
• 4) K. Kazerounian, et al.: Redundancy Resolution of Robotic Manipulators at the Acceleration Level, Proc. 7th IFToMM World Cong. The Machines and Mechanisms, 2, 1207/1211 (1987)
• 5) M. Vubobratovic, et al.: A Dynamic Approach to Nominal Trajectory Synthesis for Redundant Manipulators, IEEE Trans. Systems, Man, and Cybernetics, SMC-14-4, 580/586 (1984)

Terms in the title (3)： 多関節マニピュレータ ,  冗長性 ,  分解