1A1-K14 Investigation of Trajectory Generation in Integer Inverse Kinematics(New Control Theory and Motion Control)

Osamu TOJO, Kohei MATSUSHITA,Takeshi MORISHITA

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)（2011）

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摘要

This paper investigated the trajectory generative capacity of the kinematics model by all integer variable programming and discretization. We compared the computational results of the general inverse kinematics model to the integer inverse kinematics model, and their results confirmed the similar both outputs and simplify the process.

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关键词

trajectory generation,motion control

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