2A1-B01 遠隔操作双腕ロボットの協調制御時における冗長軸への角速度指令による特異姿勢回避(冗長自由度ロボット・メカニズム)

概要

論文の詳細を見る
Singularities induce serious problems in teleoperation since the operator is liable to move the slave arm to/around singularities unintentionally. When a dual-arm manipulator performs a cooperation task, if one of the arms runs into a singularity, it is not possible to accomplish the task. To solve this problem, we propose the singularity avoidance method by inputing angular velocity to a redundant axis during cooperative control of a teleoperated dual-arm robot. Using this method, the operator can avoid singularity on his/her own. Then we conduct verification experiments for whether the proposed redundant control method can successfully be done during cooperative control or not.
一般社団法人日本機械学会の論文
2007-05-11