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Please use this identifier to cite or link to this item: http://hdl.handle.net/11133/1147

Title: 逆運動学マップで制御する冗長ロボットを用いた飛翔物体の捕獲の研究
Other Titles: ギャクウンドウガク マップ デ セイギョスル ジョウチョウ ロボット オ モチイタ ヒショウ ブッタイ ノ ホカク ノ ケンキュウ
On a tracking of flight object using redundant DOF robot controlled by inverse kinematics map
Authors: 宮田, 郁子
安藤, 英由樹
平松, 誠治
加藤, 厚生
ANDO, Hideyuki
KATO, Atsuo
Issue Date: 31-Mar-2001
Publisher: 愛知工業大学
Abstract: This paper describes about high-speed control of redundant degree of freedom (DOF) robot. In general it is very difficult to solve inverse kinematics of redundant DOF robot. For the purpose of it we try to use inverse kinematics map with diffusion equation method and error correcting method. The inverse kinematics map is calculated in offline. Some examinations are made on a real robot manipulator. Sometimes the desired end point of the manipulator does not fit with calculated lattice point. Then, the mapping points have to be recalculated for correcting. We use two artificial retina tips for stereo sensing a high-speed flight object.
URI: http://hdl.handle.net/11133/1147
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