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Parallel and Distributed Trajectory Generation of Redundant Manipulators through Cooperation and Competition among Subsystems
https://hiroshima.repo.nii.ac.jp/records/2007028
https://hiroshima.repo.nii.ac.jp/records/20070283b4556dd-e217-43bf-9c9a-8b3056c3180c
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
IEEE_TSMC_B_27_3_498-509_1997.pdf (378.0 KB)
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| Item type | デフォルトアイテムタイプ_（フル）(1) | |||||||||||
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| 公開日 | 2023-03-18 | |||||||||||
| タイトル | ||||||||||||
| タイトル | Parallel and Distributed Trajectory Generation of Redundant Manipulators through Cooperation and Competition among Subsystems | |||||||||||
| 言語 | en | |||||||||||
| 作成者 |
Tsuji, Toshio
× Tsuji, Toshio
× Nakayama, Seiya
× Ito, Koji
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| アクセス権 | ||||||||||||
| アクセス権 | open access | |||||||||||
| アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||||||
| 権利情報 | ||||||||||||
| 権利情報 | Copyright (c) 1997 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | NDC | |||||||||||
| 主題 | 530 | |||||||||||
| 内容記述 | ||||||||||||
| 内容記述 | The autonomous distributed control (ADC) is oneof the most attractive approaches for more versatile and autonomousrobot systems. This paper proposes a parallel anddistributed trajectory generation method for redundant manipulatorsthrough cooperative and competitive interactions amongsubsystems composing the ADC that is based on a concept ofvirtual arms. The virtual arm has the same kinematic structureas the manipulator except that its end-point is located on a jointor link of the manipulator. Then the redundant manipulatorcan be represented by a set of the virtual arms. In this paper,trajectory generation and point-to-point control of the redundantmanipulator are discussed, and it is shown that the kinematicredundancy of the manipulator can be utilized positively in thegenerated trajectories by using the virtual arms. | |||||||||||
| 言語 | en | |||||||||||
| 出版者 | ||||||||||||
| 出版者 | IEEE | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||
| 資源タイプ | journal article | |||||||||||
| 出版タイプ | ||||||||||||
| 出版タイプ | VoR | |||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||
| 関連情報 | ||||||||||||
| 関連タイプ | isVersionOf | |||||||||||
| 識別子タイプ | DOI | |||||||||||
| 関連識別子 | http://dx.doi.org/10.1109/3477.584956 | |||||||||||
| 収録物識別子 | ||||||||||||
| 収録物識別子タイプ | ISSN | |||||||||||
| 収録物識別子 | 1083-4419 | |||||||||||
| 開始ページ | ||||||||||||
| 開始ページ | 498 | |||||||||||
| 書誌情報 |
IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics 巻 27, 号 3, p. 498-509, 発行日 1997 |
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| 旧ID | 14180 | |||||||||||
