@article{oai:fukuyama-u.repo.nii.ac.jp:00007737,
 author = {小林, 正明 and 清水, 光 and 菅沼, 春幸},
 journal = {福山大学工学部紀要},
 month = {},
 note = {P(論文), This paper studies some basic problems of the five link manipulator motion. At first, by using A matrix we compute the position and the configration of manipulator. Secondly, the computation method of joint variables from the position of end effector is shown by the flow chart. The tracking accuracy for motion trajectory is also discussed with respect to the acceleration of manipulator. Finally, the effective inertias, the coupling inertias and the gravity loadings, which are required for the trajectory control of manipulator, are computed based on the manipulator dynamics equation.},
 pages = {23--29},
 title = {ロボット・マニピュレータの運動に関する基礎的検討},
 volume = {10},
 year = {1988}
}