冗長マニピュレータのための実時間動的冗長性制御法

• 馬 書根

  茨城大学工学部

• ネンチェフ D.

  東北大学工学部

書誌事項

タイトル別名

• Real-Time Dynamic Redundancy Control of Redundant Manipulators.

抄録

This paper presents an efficient control approach for redundant manipulators using a torque-based formulation. First, the manipulator with redundant degrees of freedom is decomposed into several non-redundant subsystems. Then, each of these subsystems is analyzed for the conditioning of the respective Jacobian matrix, considering the dynamic performance. Thus a set of possible solutions is constructed. Further on, the formulation of the proposed redundancy resolution control is realized using the relation between the joint torque and the given end-effector acceleration (torque-based formulation). The approach is suitable for parallel processing, and real-time dynamic redundancy control of redundant manipulators is possible. Numerical simulations have been performed to show the effectiveness.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 13 (5), 704-710, 1995

  一般社団法人 日本ロボット学会

キーワード

• Redundant Robot Manipulator
• Real-time Dynamic Redundancy Control
• Parallel Processing
• Torque-based Formulation
• Torque Limits

詳細情報

• CRID: 1390282679703901824
• NII論文ID: 10011650735
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.13.704
• ISSN: 18847145
• ISSN: 02891824
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可