駆動冗長性を有する高速パラレルメカニズムの高精度制御のための運動学的冗長自由度の導入方法

抄録

One of the methods to design high speed robots is to adopt parallel mechanisms with driving force redundancy. However, such parallel mechanisms can have a problem in controlling them precisely because large feedback gains cannot be used if the large internal forces occur that might make the mechanisms broken. In this paper, we propose to introduce kinematical redundant degrees of freedom into the parallel mechanisms with driving force redundancy in order to solve this problem. The condition of the judgment is given in order to design such parallel mechanisms.