Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : August 07, 2016 - August 10, 2016
Recently, robots with high degree-of-freedom (DOF) have been used widely in various fields. These robots are able to conduct multiple purposes such as obstacle avoidance, postural control, trajectory tracking, etc. simultaneously using their redundancy. However, the robots with high degree of freedom cannot specify their inverse kinematics uniquely. Also, iterative calculations are required to generate motions which satisfy multiple demands in conventional methods. Since, the computational complexity increases explosively when the DOF of the robot increases, these methods are not appropriate for motion generation of the high DOF robots. In this paper, a new method is proposed, which generates robot motion through feedback control simulation using the dynamic model of multi-body robots with several virtual external forces which represent multiple demands. Then, the effectiveness of the method is confirmed through numerical simulation.
