@article{oai:miyazaki-u.repo.nii.ac.jp:00001072,
 author = {佐藤, 治 and Sato, Osamu and 佐藤, 浅次 and Sato, Asaji and 高橋, 伸弥 and Takahashi, Nobuya and 河野, 通夫 and Kono, Michio and 佐藤, 治 and Sato, Osamu and 佐藤, 浅次 and Sato, Asaji},
 issue = {8},
 journal = {精密工学会誌, Journal of the Japan Society for Precision Engineering},
 month = {Aug},
 note = {For the purpose of enlarging the work space of manipulator, this study proposes the trajectories for saving energy about throwing motion. In this paper, equations of motion of a manipulator, whose mechanism has two actuated joints and a passive revolute joint for a tray, are derived in consideration of characteristics of driving source. In order to prevent the object falling from the tray, the passive joint for the tray is rotated by inertia force about actuated joints. Considering the condition about motion of the tray, trajectories for saving energy of two actuated joints are calculated by iterative dynamic programming. Initial searching region of dynamic programming is a shape which is surrounded by two cosine-wave translated in parallel. This proposed searching region is used as an initial range of the iteration method, and the region is shifted to minimize the energy consumption of the motor. The dynamic characteristics of manipulator controlled based on above mentioned trajectory are analyzed theoretically and investigated experimentally.},
 pages = {859--864},
 title = {非駆動ジョイントをもつマニピュレータの投げる動作における省エネルギー軌道},
 volume = {74},
 year = {2008},
 yomi = {サトウ, オサム and サトウ, アサジ and タカハシ, ノブヤ and コウノ, ミチオ and サトウ, オサム and サトウ, アサジ}
}