2リンクアームにおける逆運動学を利用しない手先位置制御 Position Control of a Two-link Arm without using Inverse Kinematics
This paper proposes a straightforward control raw for the position control of a two-links robotic arm in vertical plane with the gravitational force. This control strategy is not based on a conventional method using inverse kinematics and the Jacobian matrices of the robot. Virtually-desired joint trajectory is generated during the motion of the robot until the tip of the arm reaches a given target point. Because of the property, joint angle of the arm is not necessary to converge to the generated joint trajectory. Using this proposed control law, extremely smooth motion in position control can be realized like human arm movements, and resulting in <i>Bell-shaped trajectory</i> of velocity profile can be achieved through the PTP control. Usually, this kind of velocity profile has been seen in <i>Minimum Jerk-Based Control</i> and <i>Minimum Torque-Based Control</i>. However, the control law presented in this manuscript enables to produce the Bell-shaped velocity during the position control. Finally, this paper clearly indicates that an extremely simple control law acts as an effective method to mimic the natural and smooth motion of the human.
日本ロボット学会誌 32(3), 307-315, 2014