| タイトル | The use of locally optimal trajectory management for base reaction control of robots in a microgravity environment |
| 著者（英） | Lin, N. J.; Quinn, R. D. |
| 著者所属（英） | Case Western Reserve Univ. |
| 発行日 | 1991-01-01 |
| 言語 | eng |
| 内容記述 | A locally-optimal trajectory management (LOTM) approach is analyzed, and it is found that care should be taken in choosing the Ritz expansion and cost function. A modified cost function for the LOTM approach is proposed which includes the kinetic energy along with the base reactions in a weighted and scale sum. The effects of the modified functions are demonstrated with numerical examples for robots operating in two- and three-dimensional space. It is pointed out that this modified LOTM approach shows good performance, the reactions do not fluctuate greatly, joint velocities reach their objectives at the end of the manifestation, and the CPU time is slightly more than twice the manipulation time. |
| NASA分類 | CYBERNETICS |
| レポートNO | 91A49765
AIAA PAPER 91-2823 |
| 権利 | Copyright |
| URI | https://repository.exst.jaxa.jp/dspace/handle/a-is/346120 |
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