1994年
双腕型宇宙ロボットの最適軌道計画
日本ロボット学会誌
- ,
- 巻
- 12
- 号
- 7
- 開始ページ
- 1038
- 終了ページ
- 1042
- 記述言語
- 日本語
- 掲載種別
- DOI
- 10.7210/jrsj.12.1038
- 出版者・発行元
- The Robotics Society of Japan
In this papar, the path planning of two manipulators of a space robot is considered. The equations of the motion of a free-flying space robot that has two manipulators are derived. On the basis of the dynamic model, an optimal trajectory, which accomplishes the desired end-position of the manipulator hands and minimizes the deviation of the attitude of the body of the space robot from the initial configuration, are calculated by using a numerical algorithm. Simulation results for a planar space robot with two 2. D. O. F. manipulators are shown.
- リンク情報
- ID情報
-
- DOI : 10.7210/jrsj.12.1038
- ISSN : 0289-1824
- CiNii Articles ID : 130000842369