2P1-D10 RoBEを用いたモバイルマニピュレータの実時間自己衝突回避制御 : 第8報環境・作業状態に適応可能な協調動作への拡張

概要

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We have proposed a real-time self-collision avoidance motion generation method for the manipulator of the robot which is used for human-robot cooperation. In this method, we represent the robots' body by using elastic elements referred to as "RoBE (Representation of Body by Elastic elements)". The self-collision avoidance motion could be realized based on a reaction force generated by the contacts between the elastic elements before the actual self-collision of the robot. In this paper, we expand this method to control not only robots' manipulator, but also its mobile base. Furthermore, we focus on the range of joint movement of the robot, and propose the self-collision avoidance motion generation method considering it. Because of these expansion and consideration, the self-collision motions which could deal with task/environmental constraints could be generated on the mobile manipulator cooperating with a human. The proposed motion generation method is implemented in the planar 4-DOF mobile manipulator, and computer simulations are done for illustrating the validity of the proposed method.
一般社団法人日本機械学会の論文