2次元平面内における2本のマニピュレータの協調的操り - 定式化と制御形の設計 -

概要

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This paper is concerned with a coordinative manipulation problem by a couple of robot manipulators in the two dimensional space. In order to manipulate an object accurately by manipulators, we must take account of not only the dynamics of manipulator but also the dynamics of object motion. Therefore, first, taking both dynamics into account, we derive a basic equation for coordinative manipulation control with two manipulators in the two dimensional space. In particular, we adopt a simple vector for the expression of object orientation instead of usual expression such as Euler angle, and Roll-Pith-Yaw. Second, based on this equation, we design a control system which achieves the desired position and orientation of object independently, by applying an existing control method for constrained dynamics. Finally, we give a simulation result to show the validity of our method.
一般社団法人日本ロボット学会の論文