Art

J-GLOBAL ID：200902297392459493   Reference number：09A0217530

Determination of Trajectory for a Multi-DOF Manipulator by Heuristic Algorithms (Implementation Approach for the Suppression of Dynamic Torque of a Steel Sheet Handling Manipulator)

発見的手法を用いた多自由度マニピュレータの軌道決定(鋼板搬送用マニピュレータの動的トルク抑制の実現)

Author (3)： HAYASHI MICHIHIRO (金沢大 大学院自然科学研究科) ,  TACHIYA HIROSHI (金沢大 理工研究域) ,  ASAKAWA NAOKI (金沢大 理工研究域)
Material： 日本機械学会論文集 C編  (Transactions of the Japan Society of Mechanical Engineers. Series C)
Volume： 75  Issue： 750  Page： 262-269  Publication year： Feb. 25, 2009 
JST Material Number： F0045B  ISSN： 0387-5024  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： JAPANESE (JA)

Thesaurus term： *manipulator ,  degree of freedom ,  *orbit determination ,  industrial robot ,  heuristics ,  torque ,  suppression and control
Semi thesaurus term： *多自由度 ,  transportation robot ,  動的トルク

JST classification (1)： Design,manufacturing,and components of robots  (IC04013A)

Reference (17)：

• TACHIYA, H. Characteristic Evaluation of Robotic Parallel Crank Mechanisms Using Dynamic Characteristic Charts. Transactions of the Japan Society of Mechanical Engineers, Series C. 1994, 60, 569, 343-349
• TACHIYA, H. Evaluation of Robotic Open Loop Mechanisms using Dynamic Characteristic Charts. Transactions of the Japan Society of Mechanical Engineers, Series C. 1997, 63, 606, 613-619
• AMANO, J. Design of the Counterbalances Minimizing the Dissipated Energy of a Vertically Articulated Manipulator. Journal of the Robotics Society of Japan. 2004, 22, 7, 924-932
• AMANO, J. Design for Saving Energy of a Vertically Articulated Manipulator Using Spring and Mass Balancers. Transactions of the Japan Society of Mechanical Engineers, Series C. 2004, 70, 700, 3456-3462
• KASHIMA, T. Trajectory Planning of Manipulators Based on a Minimum-Energy Criterion and Operating Time. Journal of the Robotics Society of Japan. 1997, 15, 7, 1012-1018

Terms in the title (6)： 発見的手法 ,  多自由度 ,  マニピュレータ ,  軌道決定 ,  鋼板 ,  トルク