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ID 14659
本文ファイル
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別タイトル
Instantaneous inverse kinematic solution for redundant manipulators based on virtual arms and its application to winding control
著者
中山 聖也
荒木 淳
伊藤 宏司
キーワード
computer control
mechanics
robotics
redundant manipulator
inverse kinematics
winding control
virtual arm
NDC
機械工学
内容記述
The present paper proposes an instantaneous inverse kinematic solution for redundant manipulators based on virtual arms. The virtual arm has the same kinematic structure as the manipulator except that its end-point is located on the joint or link of the manipulator. When the appropriate virtual arms are used, the configuration of the manipulator can be represented by a set of end-points of the virtual arms. First of all, this paper formalizes the kinematics of virtual arms and derives instantaneous inverse kinematics. Then, the method is applied to winding control for hyper-redundant manipulators. The winding control presented here is divided into two steps: 1)planning desired positions for virtual end-points, 2)integrating them into the joint trajectory of the manipulator. The desired positions of each virtual arm can be computed in a parallel and distributed way and it is not necessary to consider joint space of the manipulator. Finally computer simulations show that the winding control for a hyper-redundant manipulator can be performed in 3D-space.
掲載誌名
日本機械学会論文(C編)
59巻
558号
開始ページ
474
終了ページ
480
出版年月日
1993-02
出版者
日本機械学会
ISSN
0387-5024
言語
日本語
NII資源タイプ
学術雑誌論文
広大資料タイプ
学術雑誌論文
DCMIタイプ
text
フォーマット
application/pdf
著者版フラグ
publisher
権利情報
Copyright (c) 1993 日本機械学会
部局名
工学研究科