プレビューコントロールを用いた冗長マニピュレータの未知対象物に対する軌道追従及び回避制御 : 第2報, 遺伝的アルゴリズムによる軌道計画の利用

概要

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This paper is concerned with a control method for trajectory tracking and obstacle avoidance to unknown object by redundant manipulators. When a desired trajectory of a manipulator's hand is on a surface of a object, the object could be an obstacle, and tasks of trajectory tracking and obstacle avoidance should be controlled parallel in the same time. To realize such control to an unknown object, we propose a preview control system, which includes path planning function using GA and potential field around the detected object in the control feedback loop. This system is based on an assumption of real time sensing of the unknown object shape. GA is used to choose the safest configration of the virtual manipulator which is referred by the preview controller. The effects are confirmed by simulation experiments.
社団法人日本機械学会の論文
1998-05-25