自由曲面によるマニピュレータの衝突回避経路計画

抄録

This paper provides a new method for obtaining a collision free path for a manipulator. The proposal in this paper consists of two steps. First, the authors define Path-Restricted-Curved-Surface (PRCS) as a free form surface in the configuration space that includes both start and goal points and exclude collision regions. The PRCS is described by Bezier surface in the configuration space. Moving along the PRCS, the manipulator doesn't occur to collide, because the PRCS is a collision-free area. Second step is to generate the optimized path on the PRCS. The path on the PRCS is selected to the geodesic connects from start to goal points. The geodesic in the configuration space is the most suitable path in the point to minimize the total value of manipulator's joint angle changes. The effectiveness of this method is clarified by computer simulation with 3D graphics. This method can be said to apply the differential geometry to configuration space method.