繰り返し順変換による荷物の持ち上げ動作生成のシミュレーション
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概要
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With the developments of the society, more and more multi-joint robots have been used to meet the needs of the people and industry. For example, wheeled mobile robots and humanoid robots are placed in dangerous work in some fields such as in medical treatment, architecture, manufacture, and so on. This research focuses on how to control the robot easily and how to generate the better trajectory of the robot with multiple joints. The aim of this research is to develop a multi-joint robot can stand up successfully with a luggage. This research requires the operations with two items. First, when the luggage rises, the robot stands up as easily as possible and does not fall over. Second, the load on each joint should be as small as possible. In this article, methods have been tried to evaluate the load torque and rotated angle of each joint in the geometrical limit and find the best algorithm to generate the trajectory of a lift-up motion for a stance robot by repeatedly direct kinematics.