2019 年 85 巻 6 号 p. 585-590
The task of the inverse kinematics is to find a set of joint angles so that the endpoint of the robot reaches to a goal point. However, in the conventional inverse kinematics methods, we often have a problem of singular position, in which we cannot find a solution due to numerical calculation even if it exists. Furthermore, inverse kinematics calculation costs greatly in a hyper redundant series robot with a massively large number of joints. Therefore, we need a singular position free and computation effective kinematics calculation method. A key idea in this paper is to determine a joint angle in a distributed manner. Each of the joints determines a displacement of its joint angle for contributing to the goal, when a goal and current position of the endpoint are given. Then the robot goes to a new posture by applying all the joint angles. We repeat the process again until it comes to the goal. This paper presents the development of a distributed forward and inverse kinematics method for the hyper redundant series robot. We have verified our method with a set of numerical experiments.
