始点と終点におけるロボット全体の幾何学的性質に基づいた冗長多関節ロボットの動作計画

抄録

This paper discusses motion planning techniques for redundant articulated robots. Motion planning in this paper means to generate joint trajectories that can avoid obstacles. In the proposed motion planning method, candidate waypoints are generated from the overall shape of the initial and goal configurations. All procedures of the proposed method are constructed only by computing inverse kinematics, and it does not require path planning in joint space. The effectiveness of the proposed method is verified through performance evaluation test using a 7-DOF manipulator. In the performance evaluation test, not only the trajectory length and calculation time, but also the risk of collision with obstacles that are not considered in the simulator are evaluated.