運動学的作業方向動作精度に基づく冗長マニピュレータの姿勢評価・制御(機械力学,計測,自動制御)

概要

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Some manipulation tasks have a direction of motion and directions for which kinematic accuracy is required in the motion. The authors have proposed the index (KAIT: Kinematic Accuracy Index for Task-directions) that allows us to evaluate the kinematic accuracy of manipulators considering the task-directions. However, the KAIT was only applicable to non-redundant manipulators. In this paper, we first extend the KAIT to be applied to redundant manipulators. Next, some postures of a 3-DOF planar manipulator are analyzed on the basis of some indices that have been proposed (Salisbury's condition number, Yoshikawa's manipulability measure and Chiu's task compatibility) and the KAIT, respectively. Finally, we discuss the usefulness of the KAIT in determining the optimal posture of the redundant manipulator for a given task.
社団法人日本機械学会の論文
2008-06-25