ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A1-L04
会議情報
1A1-L04 多目標タスク対応型運動学計算フレームワークの開発(進化・学習とロボティクス)
久和 智林 朗弘福丸 浩史原槙 真也佐竹 利文
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会議録・要旨集 フリー

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This paper deals with a kinematics resolution framework for robots controller to perform multi target positioning. The framework consists of metaphysical subsystems, corresponding to joint and link, and their connection rules. The localized forward and inverse kinematics calculations are embedded in the subsystems and kinematics models are composed of a set of subsystems assembled by their connection rules. The framework is applied to case studies of the forward and the inverse kinematics problems which are multi target positioning of five or more d.o.f. robot manipulator.
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© 2014 一般社団法人 日本機械学会
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