作業の方向を考慮したマニピュレータの運動学的動作精度

概要

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Some manipulation tasks have a direction of motion and directions for which kinematic accuracy is required in the motion. This paper presents a new index (KAIT : Kinematic Accuracy Index for Task-directions) that allows us to evaluate the kinematic accuracy of manipulators considering the task-directions. First, the KAIT is derived. Second, the geometrical relationship of the KAIT to the manipulability ellipsoid is represented. Third, a manipulation performance of a 2-DOF planar manipulator for a task is evaluated on the basis of some indiccs that have been proposed (Salisbury's condition number and Chiu's task compatibility) and the KAIT, respectively. Finally, from these evaluation results, it is shown that the KAIT is useful to evaluate the kinematic accuracy of manipulators for the task-directions.
一般社団法人日本機械学会の論文
1999-02-25