並列的逆動力学計算法を用いたトルクキャンセリングシステムの開発

概要

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A new torque cancelling system that stabilizes mechanical sway against quick, rotational motion is discussed in this paper. The torque cancelling system (TCS) cancels the reaction moment generated by the rotational motion of an object by considering the precise dynamics of the object and the body of the robot itself. The reaction moment can be obtained accurately using the parallel solution scheme of inverse dynamics that handles the dynamics of complex robotic architectures by modeling them with finite elements. Once the reaction moment is known, it can be cancelled by applying an anti-torque to a torque-generating device. In this paper, an outline of the parallel solution scheme is first described. Then, some examples of torque cancelling resulting from accurate calculations of dynamics are demonstrated by showing the experimental results carried out on simple systems. The systems used in the experiments include rigid and flexible outboard and inboard objects, where difficult assumptions are normally required to consider the dynamics accurately. A numerical example of a complex robotic architecture is also presented to verify the use of the system.