運動可能性と目標運動達成支援性に基づく超多自由度ロボットの器用さの評価と最適制御(機械要素,潤滑,工作,生産管理など)

概要

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his paper describes a new method to utilize redundancy of hyper redundant robots. To achieve dexterous motion of hyper redundant robot, joint inputs should be determined by taking account of i.e., the contribution of all actuators for the achievement of target motions and capability for unpredictable target motions in future is necessary. Two evaluation indices, the movability index of each link and the assistability index for target motion, are thus formulated with the angle distribution of column vectors of Jacobian matrix for each link. Then joint input to maximize or minimize these indices are derived based on an improved gradient projection method. The physical meaning of the proposed indices is also discussed by comparing with conventional manipulability measure. Motion control simulations and experiments with a planar 10R serial manipulator revealed the effectiveness of the proposed method.
社団法人日本機械学会の論文
2008-04-25