2P1-I09 双参照モデルに基づくマニピュレータ制御(作業移動ロボット・メカトロニクス)

概要

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The control of the manipulator used the control parameter designed beforehand the parameter corresponding to the environment or as a result by the use of sensing so far. Generally, control parameters of manipulator as should be designed beforehand. However, the control parameter had to set to minimum energy and a minimum torque, etc., and to change every time the environment changes. Although these parameters are usually decided for minimum energy or maximum performance, these depend on environment, robot mechanism, and its tasks and so on. Therefore, adaptive parameter adjustment techniques are required. This research voluntarily makes a surrounding control parameter the match to the environment., from the use of the use of the others reference system with the self-reference system of the social psychology of reference model by the movement manipulator, and can execute the task. This paper addresses a technique for the adaptive parameter adjustment by social psychological approach. To adjust the parameter, egoism and altruism force are considered for manipulator motion planning. And, the effectiveness of the parameter setting method by this model is verified. Finally, an effect of the technique is verified by simulation experiment of mobile manipulator tasks.
一般社団法人日本機械学会の論文
2007-05-11