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![18
Wakayama University Graduate School of System Engineering Robotics Laboratory
2
➢
➢
6
5
4
xR
yR
zR
1
⎡
⎣
⎢
⎢
⎢
⎢
⎢
⎤
⎦
⎥
⎥
⎥
⎥
⎥
=
0.4 0 0 0
0 0 −0.4 0
0 0.4 0 −100
0 0 0 1
⎡
⎣
⎢
⎢
⎢
⎢
⎤
⎦
⎥
⎥
⎥
⎥
xL
yL
zL
1
⎡
⎣
⎢
⎢
⎢
⎢
⎢
⎤
⎦
⎥
⎥
⎥
⎥
⎥
ΣL ΣR
ΣL ΣR
15
14
13
r
30
[s]
15060 90 120
0
50
100
SUS
3
5
4
2
1
11
0 2010 30 0 2010 30
0.2
0.4
0.1
0.3
0.5
0.2
0.4
0.1
0.3
0.5
[s] [s]
[s]
[s]
9
0 2010 30
[s]
0 2010 30
[s]
0.4
0.8
0.2
0.6
1
0.4
0.8
0.2
0.6
1
10
0 2010 30 0 2010 30
0.2
0.4
0.1
0.3
0.5
0.2
0.4
0.1
0.3
0.5
[s] [s]
[s]
[s]
20
7
3](https://image.slidesharecdn.com/160717oc-160721063108/85/160717-oc-1-320.jpg)
160717 ocポスター
- 1. 18 Wakayama University GraduateSchool of System Engineering Robotics Laboratory 2 ➢ ➢ 6 5 4 xR yR zR 1 ⎡ ⎣ ⎢ ⎢ ⎢ ⎢ ⎢ ⎤ ⎦ ⎥ ⎥ ⎥ ⎥ ⎥ = 0.4 0 0 0 0 0 −0.4 0 0 0.4 0 −100 0 0 0 1 ⎡ ⎣ ⎢ ⎢ ⎢ ⎢ ⎤ ⎦ ⎥ ⎥ ⎥ ⎥ xL yL zL 1 ⎡ ⎣ ⎢ ⎢ ⎢ ⎢ ⎢ ⎤ ⎦ ⎥ ⎥ ⎥ ⎥ ⎥ ΣL ΣR ΣL ΣR 15 14 13 r 30 [s] 15060 90 120 0 50 100 SUS 3 5 4 2 1 11 0 2010 30 0 2010 30 0.2 0.4 0.1 0.3 0.5 0.2 0.4 0.1 0.3 0.5 [s] [s] [s] [s] 9 0 2010 30 [s] 0 2010 30 [s] 0.4 0.8 0.2 0.6 1 0.4 0.8 0.2 0.6 1 10 0 2010 30 0 2010 30 0.2 0.4 0.1 0.3 0.5 0.2 0.4 0.1 0.3 0.5 [s] [s] [s] [s] 20 7 3