804 視覚情報を用いた冗長ロボットの動的障害物の回避制御(感覚・計測とロボティクス・メカトロニクスI)(OS.12 感覚・計測とロボティクス・メカトロニクス)

概要

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Control of the redundant joint of a robot has been mostly used to avoid a static obstacle in industrial production. In this study, a method of avoidance control of a redundant robot for a moving obstacle using visual impedance is proposed. Two CCD cameras are used to construct a stereovision, and a high-speed image board with a build-in DSP processor is used for image input and real time processing. When an obstacle moving into a previously arranged virtual potential around a robot is detected, a virtual torque is generated to act on a selected redundant joint of the robot so as to avoid the obstacle by impedance control while the end-effecter of the robot is kept its compliance during playing a contact task. The effectiveness of the proposed method has been demonstrated through the avoidance experiments.
社団法人日本機械学会の論文
2001-03-09