2P1-B25 運動学的作業方向動作精度に基づくロボットマニピュレータの動作計画

概要

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Some manipulation tasks have a direction of motion and directions for which kinematic accuracy is required in the motion. We have proposed the index (KAIT: Kinematic Accuracy Index for Task-directions) that allows us to evaluate the kinematic accuracy of manipulators considering the task-directions. This paper deals with motion planning of a 3-DOF planar manipulator for a given task, as example of the application of the KAIT. First, the KNIT is explained briefly. Second, the geometrical relationship of the KNIT to the manipulability ellipsoid is represented. Third, some motions of the manipulator are evaluated on the basis of the KAIT and Yoshikawa's manipulability measure. Finally, from the comparison of the evaluated results and experimental results which are obtained by using the manipulator, we discuss the usefulness of the KAIT in determining the suitable motion of the manipulator for the given task.
一般社団法人日本機械学会の論文