低自由度ユニットを直列接続した超多自由度ロボットの運動制御(S49-1 パラレルメカニズムとその応用(1),S49 パラレルメカニズムとその応用)

概要

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This paper describes motion control of a hyper redundant robot built by serially connecting with many units with a few DOF. Each unit is a spatial parallel mechanism with 3 DOF and is composed of 2 stages connected with 3 linearactuators, 7 spherical joints and a center rod. The inverse kinematic analysis that the iterative calculation so as to converge output error while output displacement was distributed into each unit with weighting coefficient was proposed and formulated. Motion control of the robot was theoretically and experimentally examined based on the inverse kinematics. It was confirmed that a prototype with 3 units could generate desired trajectories.
社団法人日本機械学会の論文
2004-09-04