Art

J-GLOBAL ID：200902146747070780   Reference number：96A0543449

A Dynamic Approach to Real-Time Obstacle Avoidance Control of Redundant Manipulators.

動力学を考慮する冗長マニピュレータの実時間障害物回避制御

Author (2)： MA S (Ibaraki Univ., Hitachi, JPN) ,  HIROSE S (Tokyo Inst. Technol., Tokyo, JPN)
Material： JSME International Journal. Series C. Mechanical Systems, Machine Elements and Manufacturing  (JSME International Journal. Series C. Dynamics, Control, Robotics, Design and Manufacturing (Japan Society of Mechanical Engineers))
Volume： 39  Issue： 2  Page： 317-322  Publication year： Jun. 1996 
JST Material Number： X0995A  ISSN： 1344-7653  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： ENGLISH (EN)

Thesaurus term： manipulator ,...

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JST classification (1)： Motion and control of robots  (IC04012J)

Reference (17)：

• MACIEJEWSKI, A. A. Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments. Int. J. of Robotics Research. 1985, 4, 3, 109
• NAKAMURA, Y. Task-priority based on redundancy control of robot manipulators. Int. J. of Robotics Research. 1987, 6, 2, 3
• KIRCANSKI, M. Contribution. to control of redundant robotic manipulators in an environment with obstacles. Int. J. of Robotics Research. 1986, 5, 4, 112
• BAILLIEUL, J. Avoiding obstacles and resolving kinematic redundancy. IEEE Int. Conf. on Robotics and Automation. 1986, 1698
• LIEGEOIS, A. Automatic supervisory control of the configuration and behavior of multi-body mechanisms. IEEE Trans. on System, Man, and Cybernetics. 1977, 7, 12, 868

Terms in the title (4)： 動力学 ,  冗長マニピュレータ ,  実時間 ,  障害物回避