並列制御機構によるマニピュレータの制御 (第2報)
実時間障害物回避制御
1985 年 51 巻 12 号 p. 2328-2333
詳細
1985 年 51 巻 12 号 p. 2328-2333
A collision free control method is developed for a manipulator. A parallel processing system which is composed of 64 micro-processor units is used for the control. In order to avoid collision, a repulsive force vector is generated inside the control system. An attractive force vector is used to move the manipulator hand to a target position. These imaginary force vectors drive the manipulator model and the actual manipulator is controlled according to the movement of the model. A control experiment is carried out with three obstacles in three dimensional space. 27 processing units are used for the experiment and the sampling time is 14 ms. Extensive use of this method is studied.
