1A1-L07 冗長自由度による関節可動範囲の最大許容 : 視覚サーボへの応用と実験検証(動作計画と制御の新展開)

概要

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Robotic systems are practically subject to some physical constraints. In particular, violation of joint limits can deteriorate control performance and lead to breakdown of the system. We have proposed the maximal admission of joint range of motion using redundant degrees-of-freedom for kinematically redundant manipulators. This paper presents its application to image-based visual servoing. The controlled object is an eye-in-hand system, which is composed of a three degrees-of-freedom planar manipulator and a single camera that is mounted on the manipulator's end-effector. The effectiveness of the application is evaluated experimentally.
一般社団法人日本機械学会の論文
2011-05-26