2P1-B38 コンポーネント型多関節ロボットの分散制御 : ハンド先端の位置、姿勢の逆運動学について

概要

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In this study, component based decentralized cooperative control system has been proposed for improving operating technology of multi-jointed manipulator, and the principle and basic structure of control system has been discussed. And we propose new-type component based decentralized cooperative control system to realize the additional links and changes structure of manipulator without to change the configuration of component controller. Although local inverse kinematics for position control of end-effector has been realized, it is generally used to instruct position and posture of end-effector in practical operating robot. In this paper, posture control function of end-effector is newly added to position inverse kinematics in component controller. We show that posture control is possible as well as position control by the case studies of manipulator control based on this concept and method.
一般社団法人日本機械学会の論文