作業の方向を考慮したロボットマニピュレータの動的動作精度

概要

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Some manipulation tasks have a direction of end-effector acceleration of a manipulator and directions for which dynamic accuracy is required in the motion. This paper presents a new index (DAIT : Dynamic Accuracy Index for Task-directions) that allows us to evaluate the dynamic accuracy of manipulators considering the task-directions. First, the DAIT is derived. Second, the geometrical relationship of the DAIT to the dynamic manipulability ellipsoid is represented. Third, a manipulation performance of a planar 2-DOF manipulator for a task is evaluated on the basis of some indices that have been proposed and the DAIT. Finally, from these evaluation results, it is shown that the DAIT is useful to evaluate the dynamic accuracy of manipulators for the task-directions.
一般社団法人日本機械学会の論文
2001-11-25