A Study of Computer Control of Motion of a Mechanical Arm : 1st Report, Calculation of Coordinative Motion Considering Singuler Points

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This study deals with the manipulator control problem from the dynamical standpoint where the time factor plays an important role. It includes a coordinate transformation of the position and posture and the force and moment, a control of the coordinative motion, and a visual feedback control. In the first report, the coordinate transformation necessary to control the coordinative motion of the hand of a manipulator has been analyzed. As the result, it is shown that there are several singular points determined by the arm mechanism. At these singular points, the kind of the configuration of the arm for the same position and posture of the hand changes and the number of degrees of freedom of the hand decreases. Utilizing these results, a method of calculation of the global coordinative motion is proposed. This method eliminates the difficulties which may arise at the singular points and enables a change of the kind of the configuration.
一般社団法人日本機械学会の論文