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Title
Japanese:時間軸の変換を用いた軌道設計 
English:A Trajectory Design with Time Scale Transformation 
Author
Japanese: 大西 祐輝, 伊吹 竜也, 三平 満司.  
English: Yuki Onishi, Tatsuya Ibuki, Mitsuji Sampei.  
Language Japanese 
Journal/Book name
Japanese:第16回「運動と振動の制御」シンポジウム (MoViC2019) 講演論文集 
English: 
Volume, Number, Page         C201
Published date Dec. 4, 2019 
Publisher
Japanese: 
English: 
Conference name
Japanese:第16回「運動と振動の制御」シンポジウム (MoViC2019) 
English: 
Conference site
Japanese:高知 
English: 
DOI https://doi.org/10.1299/jsmemovic.2019.16.c201
Abstract This paper designs a desired trajectory on the state space of a system without considering the real time explicitly. The proposed method focuses on one of the state variables which strictly increases or decreases on the trajectory plan, and designs a virtual time scale as a function of the state variable in order to blind the real time. By transforming the system written in the real time scale into the one written in the virtual time scale, the proposed method generates the optimal trajectory as a path in the state space that does not include information of the real time.

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