マニピュレータの障害物回避軌道生成の一方法(機械力学,計測,自動制御)

概要

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This paper describes an approach to generate a collision-free trajectory for manipulators. The approach has the following characteristics: (1) The joint trajectory of manipulator is expressed with cubic uniform B-spline curves; (2) A performance index function containing all constraint and unconstraint conditions on the manipulator is constructed to evaluate the trajectory, and the value of each weighting coefficient is automatically decided in calculation; (3) The control point values in B-spline curves are optimized by Complex Method algorithm so as to obtain the final trajectory; (4) A simple and practical feature expression is developed for links and obstacles; (5) The collision detection and the collision evaluation are easy and efficient. The simulation and experiment results for an industrial manipulator with 5 links demonstrate the effectiveness of the proposed approach.
社団法人日本機械学会の論文
2002-02-25