仮想アームを用いた冗長マニピュレータの逆運動学解法とまきつき制御への応用

日本機械学会論文(C編) Volume 59 Issue 558 Page 474-480 published_at 1993-02
アクセス数 : 1002
ダウンロード数 : 147

今月のアクセス数 : 5
今月のダウンロード数 : 2
File
J_035.pdf 621 KB 種類 : fulltext
Title ( jpn )
仮想アームを用いた冗長マニピュレータの逆運動学解法とまきつき制御への応用
Title ( eng )
Instantaneous inverse kinematic solution for redundant manipulators based on virtual arms and its application to winding control
Creator
Nakayama Seiya
Araki Atsushi
Ito Koji
Source Title
日本機械学会論文(C編)
Volume 59
Issue 558
Start Page 474
End Page 480
Keywords
computer control
mechanics
robotics
redundant manipulator
inverse kinematics
winding control
virtual arm
Descriptions
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.
NDC
Mechanical engineering [ 530 ]
Language
jpn
Resource Type journal article
Publisher
日本機械学会
Date of Issued 1993-02
Rights
Copyright (c) 1993 日本機械学会
Publish Type Version of Record
Access Rights open access
Source Identifier
[ISSN] 0387-5024