C27 6自由度マニピュレータ手先の位置・姿勢・力・モーメントのハイブリッド制御(OS11-1 マニピュレータの制御)

概要

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In order to easily realize the surface contact work, example as explorations and painting, etc., we proposed a PRY style 6-DOF manipulator, and a position, posture, force and moment hybrid control for the hand of it. Firstly, a Method of Sequential Retrieval was proposed for solving the inverse kinematics of the 6-DOF manipulator, even if the shafts of the upper 3 joints don't cross at the one point. And then, the position, posture, force and moment hybrid control was proposed by the expansion of conventional position and force hybrid control for dealing with the surface contact work. Furthermore, in order to avoid the calculation of the inverse Jacobian matrix, a Difference Inverse Kinematics Method was proposed. Finally, the purpose of this study was realized by the simulation using a CAD dynamic model.
2005-08-22