運動エネルギに着目したマニピュレータの実時間軌道計画法

概要

論文の詳細を見る
Conventional trajectory planners most widely used is based on a trapezoidal pattern of a end-effector velocity on the desired path in a task space. This method can be implemented on real time. However, the motion planned by this method usually leads to a very slow motion, because it is difficult to take into consideration a constraints on the magnitude of joint velocities or joint torques.<BR>In this paper, we propose a new trajectory planner for 3 d. o. f. manipulators based on a kinetic energy of manipulators. The supplied electric power for the manipulators mainly depends on the differenciation of kinetic energy. Therefore, , the proposed method can take into consideration the constraints on the magnitude of a supplied electric power and joint velocities, in other words, we can realize a“high speed motion”under the constraints on the supplied electric power and the joint velocity.<BR>Also the proposed method dose not require so much calculation amount, and can be implemented on real time.
社団法人日本ロボット学会の論文
1992-04-15