ロボット逆機構学問題に関する研究 (第2報)

DOI Web Site 参考文献7件

書誌事項

タイトル別名
  • Study on the Inverse Kinematics Problem of Robot (2nd Report)
  • ロボット逆機構学問題に関する研究(第2報)3R型ロボット逆機構解の多価性の解析
  • ロボット ギャク キコウガク モンダイ ニカンスルケンキュウ ダイ 2ホウ 3
  • Analysis of Plurality of Inverse Kinematics Solutions of 3R Type Robot
  • 3R型ロボット逆機構解の多価性の解析

この論文をさがす

抄録

Inverse kinematics problem is important for the robotics control tasks. However, this field of kinematics is very complicated. Generally the inverse kinematics problem appears from the fact that inverse mapping of functions which have many variables should be made. This report studied on the inverse kinematics problem of 3R robot. In the 1st report the solutions were classified by the part of the Joint space partitioned by singular space. It is sufficient to classify the solutions in the case single solution to the world point exists in the part. But if plural solutions exist it is insufficient to classify according to the partition. In this study the condition of the plural inverse kinematics solutions existence are analysed. A new analysis approach named Joint Space Cutting method is presented. In the Joint Space Cutting, many cutting sections are formed and every point of the world coordinate system intersect to the mapping image of the sections. But the mapping image of the section planes are the rotation of the image of a section mapping. So, to analyse the condition of the plurality of the inverse kinematics solution, lead us to solve the intersection point number of the curves formed by the intersection of the image surface and the plane pallarel to x-y plane. The plural maps in the Joint space are also presented.

収録刊行物

  • 精密工学会誌

    精密工学会誌 63 (5), 699-703, 1997

    公益社団法人 精密工学会

参考文献 (7)*注記

もっと見る

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ