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Paper Abstract and Keywords
Presentation 2018-03-13 14:40
Virtual trajectory control based on repetitive calculation
Takehiro Suzuki (Nagoya Univ.), Takahiro Kagawa (Aichi Tech.), Yoji Uno (Nagoya Univ.) NC2017-75
Abstract (in Japanese) (See Japanese page) 
(in English) A virtual trajectory control has been proposed as a model of human movement control. It is important in this control method to determine the virtual trajectory so that the generated trajectory coincides with the target trajectory. In this study, we propose another method to generate a virtual trajectory by repetitive control. This method enables to achieve the target trajectory by modifying the virtual trajectory several times without explicit calculation of the arm dynamics . We confirmed the effectiveness of the proposed method by computer simulation of a multi-link arm.
Keyword (in Japanese) (See Japanese page) 
(in English) virtual trajectory control / repetitive control / dynamics / multi-joint arm / gain / / /  
Reference Info. IEICE Tech. Rep., vol. 117, no. 508, NC2017-75, pp. 45-50, March 2018.
Paper # NC2017-75 
Date of Issue 2018-03-06 (NC) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF NC2017-75

Conference Information
Committee MBE NC  
Conference Date 2018-03-13 - 2018-03-14 
Place (in Japanese) (See Japanese page) 
Place (in English) Kikai-Shinko-Kaikan Bldg. 
Topics (in Japanese) (See Japanese page) 
Topics (in English) ME, general 
Paper Information
Registration To NC 
Conference Code 2018-03-MBE-NC 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Virtual trajectory control based on repetitive calculation 
Sub Title (in English)  
Keyword(1) virtual trajectory control  
Keyword(2) repetitive control  
Keyword(3) dynamics  
Keyword(4) multi-joint arm  
Keyword(5) gain  
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1st Author's Name Takehiro Suzuki  
1st Author's Affiliation Nagoya University (Nagoya Univ.)
2nd Author's Name Takahiro Kagawa  
2nd Author's Affiliation Aichi Institute of Technology (Aichi Tech.)
3rd Author's Name Yoji Uno  
3rd Author's Affiliation Nagoya University (Nagoya Univ.)
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Speaker Author-1 
Date Time 2018-03-13 14:40:00 
Presentation Time 25 minutes 
Registration for NC 
Paper # NC2017-75 
Volume (vol) vol.117 
Number (no) no.508 
Page pp.45-50 
#Pages 6 
Date of Issue 2018-03-06 (NC) 

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