- 著者
- 清水 昌幸 石綿 陽一 尹 祐根 加賀美 聡
- 出版者
- 一般社団法人日本機械学会
- 雑誌
- ロボティクス・メカトロニクス講演会講演概要集
- 巻号頁・発行日
- vol.2012, pp."1P1-P05(1)"-"1P1-P05(4)", 2012-05-27
This article discusses how to construct a realtime robot control system on RT-Middleware with ART-Linux, which supports AMP (Asymmetric Multi-Processing). As an example, a force feedback control system is implemented by means of multiple RT-Components that require realtime synchronous execution. There are some different system formations depending on the processor and process on which each component runs. The realtime performance of the system is evaluated based on experimental results for several formations.
2 0 0 0 OA 関節の可動範囲を考慮に入れた7自由度冗長マニピュレータの解析的逆運動学解法
- 著者
- 清水 昌幸 角谷 啓 尹 祐根 北垣 高成 小菅 一弘
- 出版者
- 日本ロボット学会
- 雑誌
- 日本ロボット学会誌 (ISSN:02891824)
- 巻号頁・発行日
- vol.25, no.4, pp.606-617, 2007-05-15 (Released:2010-08-25)
- 参考文献数
- 22
- 被引用文献数
- 3 1
This paper addresses the inverse kinematic problem for 7 DOF anthropomorphic manipulators with joint limits. Specifically, the paper analyzes how the joint limits restrict the redundancy to develop practical inverse kinematic resolutions under the joint limits. First, the manipulator model considered in this paper is provided. Second, how to solve the inverse kinematics of the redundant manipulator is described. Third, how joint limits affect the inverse kinematic solutions is investigated. Forth, several suggestions for resolving redundancy under the joint limits are presented. Lastly, the effectiveness of the redundancy resolutions is illustrated by simulation results.