제어로봇시스템학회:학술대회논문집
- 1996.10a
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- Pages.12-15
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- 1996
Control of Manipulators with Hyper Degrees of Freedom:Shape Control Based on Curve Parameter Estimation
- Mochiyama, Hiromi (School of Information Science, Japan Advanced Institute of Science and Technology(JAIST)) ;
- Shimemura, Etsujiro (School of Information Science, Japan Advanced Institute of Science and Technology(JAIST)) ;
- Kobayashi, Hisato (Department of Electrical and Electronic Engineering, Hosei University)
- Published : 1996.10.01
Abstract
In this paper, a new shape control law is derived as a result of introducing the parametric curve representation. This control alw is based on the estimation of the curve parameters corresponding to the target joint positions and the target tip position. Estimating target curve parameters makes it possible to find, easily, a simple shape control law by the Lyapunov design method.
Keywords
- Hyper Degrees of Freedom Manipulator;
- Shape Control;
- Lyapunov Design Method;
- Estimation of Curve Parameters