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Please use this identifier to cite or link to this item: http://hdl.handle.net/11133/1645

Title: ミニチュアロボットの移動計画
Other Titles: ミニチュアロボット ノ イドウケイカク 
Path planning for a miniature robot
Authors: 池上, 朋幸
鳥井, 昭宏
道木, 加絵
植田, 明照
林, 亮
IKEGAMI, Tomoyuki
TORII, Akihiro
UEDA, Akiteru
Issue Date: 20-Jul-2005
Publisher: 愛知工業大学
Abstract: Path planning for a miniature robot, which is used in a desktop factory, is described. The robot is about 3 cm in diameter and about 40 g in weight. The robot consists of three piezoelectric elements and three electromagnets. The principle of the miniature robot is based on an inchworm. The robot realizes a linear and rotational displacement. When the robot is used on the desktop factory, the robot should move on an optimal trajectory. In this paper, the minimum operating time, which is calculated by the forward velocity and rotational velocity of the robot, is clarified. The obtained result minimizes the operating time of the miniature robot.
URI: http://hdl.handle.net/11133/1645
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