지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2013.10
- 수록면
- 1,480 - 1,483 (4page)
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초록· 키워드
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In this paper, we present a new method to get the trajectory of robotic manipulators with torque minimized. For the robotic manipulators for our research, just the position and velocity of the start and the final point are given. With given conditions and arbitrary chosen mutative points, we get the Hermite interpolation method used. Beside the start point and the final point, we will search for middle arbitrary chosen mutative points. Then the Hermite interpolation method is used to make sure the positions and velocities of the links satisfy the given conditions. With the change of position and velocity on the arbitrary chosen mutative points, with which taken into performance Index, the trajectory for torque minimization can be got.
목차
Abstract
1. INTRODUCTION
2. FORMULATION WITH HERMITE INTER POLATION METHOD
3. SIMULATION FOR TORQUE MINIMIZATION
4. CONCLUSIONS AND FUTURE PLAN
REFERENCES
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