2001 年 67 巻 12 号 p. 1966-1970
For a multi-joint robot, desired operations can be realized by dexterously controlling its link postures. Especially for a stance robot with multiple joints, it is possible to select a trajectory that consists of many link postures, each of which makes the load torque of all the joints as low as possible even with the limitation of no turnover. In this paper, based on the idea above, firstly the trajectories of a stance robot(3 axes) in the sit-to-stand and the squat-to-stand movements are generated with the only consideration of their static influences. Then their dynamic performances, which are obtained by adding an adjustable time interval in any two consecutive link postures are analyzed.