2P1-G15 ロボットの構造変化による位置誤差に基づく動作修正法の提案

概要

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Recently research in robot is intended for use outdoor and domestic environments. Structural changes such as joint failure or frame distortion might occur because the operating environment could not be expected. Structural changes make designed motions doing wrong operations. Though with limitation to the motions position control, we propose the sequential motion modification technique in robot structure changes without identification of structure changes and structure exploring. Adjustment factors of joint angles are estimated by observation of control point in structure changed robot and calculated joint angles of inner robot model. When the robot structure has changed, the robot motions are estimated by modified volume of joint angles. Experimental results show that the possibility to modify the robot motions to changed structure with less exploring cost.
一般社団法人日本機械学会の論文