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動的パラメータ表現による経路追従制御 : 機械力学,計測,自動制御
http://hdl.handle.net/2298/13007
http://hdl.handle.net/2298/130075f17b068-a3b7-4306-8a63-e62ab5fcd08f
名前 / ファイル | ライセンス | アクション |
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110002386111.pdf (506.6 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2009-11-10 | |||||
タイトル | ||||||
タイトル | 動的パラメータ表現による経路追従制御 : 機械力学,計測,自動制御 | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
主題 | Manipulator, Measurement and Control, Stability, Path Following, Dynamic Parametrization | |||||
資源タイプ | ||||||
資源タイプ | journal article | |||||
著者 |
公文, 誠
× 公文, 誠× 足立, 紀彦 |
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別言語の著者 |
Kumon, Makoto
× Kumon, Makoto× Adachi, Norihiko |
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内容記述 | ||||||
内容記述 | Path following is a popular task for robotic use. The conventional approach for the path following consists of two stages. At the first stage, the desired state of a robot is computed as a function of time before the robot executes the task. And at the second stage, the robot is controlled to track the desired state. Since the objective of the original task is to follow the reference path, the velocity of the robot or timing is not needed to be controlled strictly. In this paper, a new approach to make the robot follow the reference path is proposed. This approach defines the desired state as a function of a parameter φ, which has a dynamics. By using a Lyapunov function, the global asymptotic stability of the system is proved. Computer simulations show the effectiveness of the proposed method. | |||||
書誌情報 |
日本機械学會論文集. C編 巻 67, 号 656, p. 1053-1059, 発行年 2001-04-25 |
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書誌レコードID | ||||||
収録物識別子 | AN00187463 | |||||
権利 | ||||||
権利情報 | 社団法人 日本機械学会 | |||||
情報源(ISSN) | ||||||
関連名称 | 03875024 | |||||
フォーマット | ||||||
内容記述 | application/pdf | |||||
形態 | ||||||
506625 bytes | ||||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
日本十進分類法 | ||||||
主題 | 530 | |||||
その他の言語のタイトル | ||||||
その他のタイトル | Dynamic Parametrization for Path Following Control | |||||
タイトル(ヨミ) | ||||||
その他のタイトル | ドウテキ パラメータ ヒョウゲン ニ ヨル ケイロ ツイジュウ セイギョ キカイ リキガク ケイソク ジドウ セイギョ | |||||
出版者 | ||||||
出版者 | 社団法人 日本機械学会 | |||||
出版者(ヨミ) | ||||||
ニホン キカイ ガッカイ | ||||||
別言語の出版者 | ||||||
The Japan Society of Mechanical Engineers | ||||||
資源タイプ | ||||||
内容記述 | 論文(Article) | |||||
資源タイプ・ローカル | ||||||
雑誌掲載論文 | ||||||
資源タイプ・NII | ||||||
Journal Article | ||||||
資源タイプ・DCMI | ||||||
text | ||||||
資源タイプ・ローカル表示コード | ||||||
01 | ||||||
URL | ||||||
内容記述 | http://ci.nii.ac.jp/naid/110002386111@@@http://www.jsme.or.jp/ | |||||
コメント | ||||||
本文データは学協会の許諾に基づきCiNiiから複製したものである |