オンライン目標値計画 : ロボットマニピュレータヘの適用

概要

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In this paper, we propose to apply an on-line planning method for a desired signal to robot manipulators. On-line planning has the advantage of off-line planning in the following point. In off-line planning, a servo system reduces the influence of initial state variables, disturbance and parameter perturbation. In on-line planning, however, both the planning of the desired signal and the servo system can reduce the influence. That is, the influence can be reduced by changing the desired signal within its permitted domain. In the on-line planning, the permitted domain of the desired signal is expressed as parameters of the desired signal. This means that, the planning of the desired signal and design of the control system are replaced by the design for the controlled object having the restriction of the desired signal. This method has the following advantages: (1) Many methods for the design of the control system can be applied to the planning for the desrired signal (2) Processing time can be short enough for the on-line planning (3) It is possible to consider the stability of the whole system with the planner and the control system (4) Planning for desired signal includes both path planning and trajectory planning.
社団法人日本ロボット学会の論文
1995-11-15