器用さを目的関数とした冗長ロボットの最適運動制御

概要

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This paper describes an optimum motion control method for robot serial manipulators with multiple redundant degrees-of-freedom. The manipulability measure, which is given using the Jacobian matrix for both the position and posture of the endeffector of a serial manipulator, is proposed as the index for evaluating dexterity, and the manipulator is defined most dexterous when the manipulability measure has a maximum value. To drive serial manipulators most dexterously, two new methods, namely the optimum CP control methods with and without consideration of the posture angle of the endeffector, were proposed and experimentally studied for redundant planar 3R, 4 R and 5 R manipulators. Consequently, the optimum CP control method with consideration of the posture angle of the endeffector gave a better result : the manipulators were driven most dexterously over almost the entire driving range and high response was obtained.
社団法人日本機械学会の論文
1994-06-25