障害物回避を考慮した関節型マニピュレータの形状制御

概要

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This paper describes the numerical simulation for configuration control of joint-type manipulator for space application in consideration of obstacles located in the course of manipulation. The model investigated here is restricted within the two-dimensional space. A virtual potential field is given for the modeling of obstacles that is proportional to the inverse of the distance with the obstacle. First, an orbit of the tip end of manipulator is obtained between the initial and the target position so that this virtual potential may be minimized using the method of steepest descent. Second, the configuration of manipulator is determined so that the objective function formed by the sum of the virtual potential in the location of each link and the change of relative attitude angle between adjacent links may be minimized. Numerical simulations were done for a single obstacle and for dual obstacles. As a result, both of the orbit of the tip end and the configuration of the manipulator were successfully obtained when the parameter of virtual potential was appropriately selected in the proposed method.
近畿大学の論文
2001-05-31