多関節マニピュレータの2自由度慣性モレイ駆動

抄録

A control method for a hyper-redundant multijoint manipulator installed on a powerful slider is proposed in this paper. We apply an extension of our Moray Drive control approach, which we introduced earlier. This extension we call as 2 DOF Moray Drive. The 2 DOF Moray Drive derogates the control problem of the hyper-redundant degrees-of-freedom (DOFs) to the simple one of 2 DOFs. Therein, one of the variables signifies the linear combination of the objective initial and final postures of the arm, while the another one expresses the amount of the pull-out-rate, when pulling the arm out of the housing slider. Further on, the optimized motion of the 2 DOF Moray Drive is generated by using the Fourier series expansion method and the culculation convergence method of steepest ascent. The characteristics of the proposed control technique are also demonstrated by computer simulations, including the motion with different gravity conditions, as well as the motion with fluid resistance from water.