4213 2リンクロボットアームによるトラップ脱出に関する研究(G15-3 ハンド/マニピュレータ,G15 ロボティクス・メカトロニクス)

概要

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In this paper, we assume that a robot arm with two links works to rescue in an environment with some obstacles. The robot must escape to a safe domain so as not to collide with them. Virtual stakes are arranged around the neighborhood of obstacles with complicated figures in order to facilitate the computation of distance from the obstacles to the robot. We present the computation method of distance between the stakes and the robot considering the embodiment. Moreover, we propose a trap escape method with a geometric algorithm in which the robot arm escape to a safe domain by operating his two-links in another directions at the same time. The trap escape used the method was confirmed to have a good result.
一般社団法人日本機械学会の論文
2007-09-07