抄録
This paper describes a dyanamic learning control method for a five-bar-link parallel direct-drive robot. A new method to generate a complex continuous trajectory in Cartesian coordinates is presented. The trajectory is expressed as a composition of a segment of a parametric free-form space curve. Hosaka's form of the Bezier curve of degree 3, is used in this study. The availability of robot control based on this trajectory is proven through computer simulation.
| 本文言語 | English |
|---|---|
| ページ（範囲） | 395-402 |
| ページ数 | 8 |
| ジャーナル | Robotics and Computer Integrated Manufacturing |
| 巻 | 4 |
| 号 | 3-4 |
| DOI | |
| 出版ステータス | Published - 1988 |
ASJC Scopus subject areas
- 制御およびシステム工学
- ソフトウェア
- 数学 (全般)
- コンピュータ サイエンスの応用
- 産業および生産工学