2P1-F09 冗長性を利用した高速な軌跡追従手先定速作業の探索手法切換を用いた動作計画 2P1-F09 Motion Planning with Path-Finding Method Switching for Fast Motion of Path Tracking Task with Constant Hand Speed Using Redundancy
We propose a motion planning method for fast motion of path tracking task with constant hand speed using redundancy of manipulator. The propose method is method that has improved previous method. We previously proposed a motion planning method that performs path finding on a parameter space of redundancy instead of motion planning. The hand path was segmented to difficult sections that are difficult to track with fast hand speed and easy sections that are easy to track fast hand speed, and path-finding was performed different path-finding method on each section in previous method. However, the previous method has a problem because path-finding methods that perform on each sections are fixed. In this paper, we propose a motion planning method switching path-finding method depending on results of path-finding on each sections. The propose method is validated by simulation of 3-link planar redundant manipulator.
ロボティクス・メカトロニクス講演会講演概要集 2015(0), _2P1-F09_1-_2P1-F09_4, 2015