2P1-F10 分解特異点適合法に基づく特異点領域を考慮したU-R-S型マニピュレータの動作生成

• 宮田 将吾

  都市大

• 佐藤 大祐

  都市大

• 金宮 好和

  都市大

書誌事項

タイトル別名

• 2P1-F10 Enhanced Singularity-Consistent Motion Generation for U-R-S Type Manipulators Considering the Singular Region

抄録

This paper addresses velocity-level inverse kinematics based on the enhanced Singularity-Consistent (eSC) method, aiming at precise path following in the presence of kinematic singularities. In particular, we apply the eSC method to U-R-S type manipulators in order to achieve path tracking through stationary point singularities. In addition, we consider the singular region and propose two types of motion generation of path tracking at regular point singularities. One of them is according to the maximum joint velocities. The other is a method for controlling the dwelling time. The methods are based on a decomposition of a motion (singular direction or non-singular direction). The effectiveness of the proposed methods is illustrated via numerical simulations.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2015 (0), _2P1-F10_1-_2P1-F10_4, 2015

  一般社団法人 日本機械学会

キーワード

• Singularity problem
• Trajectory generation
• Enhanced Singularity-Consistent method

詳細情報

• CRID: 1390001205940083712
• NII論文ID: 110010055743
• DOI: 10.1299/jsmermd.2015._2p1-f10_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2015/0/2015__2P1-F10_1/_pdf
• 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