論文

2011年

BFA (Backtrack Free path planning Algorithm)の3次元作業空間向け実装と多腕マニピュレータへの応用

福井大学
  • 村田 知也

131
5
開始ページ
1059
終了ページ
1067
記述言語
日本語
掲載種別
学位論文(博士)
DOI
10.1541/ieejeiss.131.1059
出版者・発行元
The Institute of Electrical Engineers of Japan

BFA (Backtrack Free path planning Algorithm) has been implemented for calculating paths of manipulators behaving in 3-dimensional work spaces. In the implementation, a method to avoid collisions between links also has been proposed. This paper also discusses an approach to extending BFA for path plannings of cooperating multi manipulators. In the approach, multiple manipulators are considered as a single composite one with many links. Simulation results demonstrated that BFA enabled the efficient generation of paths both for single and multi manipulators. The algorithm is backtrack free and resolution complete. Computation volume of the algorithm is proportional to the total number of links and does not change with environments where manipulators behave.

リンク情報
DOI
https://doi.org/10.1541/ieejeiss.131.1059
CiNii Articles
http://ci.nii.ac.jp/naid/10030526288
CiNii Books
http://ci.nii.ac.jp/ncid/AN10065950
URL
http://id.ndl.go.jp/bib/11101929
URL
https://jlc.jst.go.jp/DN/JALC/00368213050?from=CiNii
ID情報
  • DOI : 10.1541/ieejeiss.131.1059
  • ISSN : 0385-4221
  • CiNii Articles ID : 10030526288
  • CiNii Books ID : AN10065950

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