303 多関節ロボットの分散制御(G15-1 ロボット,G15 ロボティクス・メカトロニクス)

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This paper deals with the motion control method based on decentralized system architecture for improving motion flexibility and operation usage of multi-joined redundant manipulator. The method designs manipulator control system as a sort of cooperative system by a set of component controllers connected under a network. Component controller is a basic module to control motion of a rotational joint corresponding to each joint of manipulator. Adequate manipulator motion for motion request is tailored cooperatively by component controllers independently performed through interaction of each joint motion. Numerical simulations in terms of end-effector path control with posture control have been executed for seven-linked articulated manipulator, and the capability of the method is discussed as well as feasibility of the method.
2006-09-15