2A1-A13 運動学的冗長マニピュレータに対する関節可動範囲を最大許容する運動計画法

概要

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This paper addresses a motion planning problem for kinematically redundant manipulators with joint limits. In motion planning for such manipulators, generally using the redundant degrees-of-freedom (DoF) we can execute a secondary task which has no effect on a main task. We usually design the secondary task as a performance criterion function to avoid obstacles, kinematic singularities, or joint limits, etc. For avoiding joint limits, however, many performance criterion functions are expected to converge a particular angle within joint range of motion. There also exists a performance criterion function which cannot avoid joint limits essentially. In this paper we propose a motion planning method with maximal admission of joint range of motion for kinematically redundant manipulators. The effectiveness of our proposed method is demonstrated by a numerical example of a three DoF planar manipulator.