抄録
We propose an instantaneous inverse kinematic solution for redundant manipulators based on virtual arms. The virtual arm has the same kinematic structure as the manipulator except that its end point is located on the joint or link of the manipulator. Providing that the appropriate number of virtual arms is used, the configuration of the manipulator can be represented by a set of end points of the virtual arms. First of all, we formalize the kinematics of virtual arms and derive instantaneous inverse kinematics. Then, the method is applied to winding control for hyperredundant manipulators. The proposed winding control algorithm is divided into two steps : 1) planning desired positions for virtual end points, and 2) integrating them into joint trajectory of the manipulator. The desired positions of each virtual arm can be planned in a parallel and distributed manner, and there is no necessity for considering joint space of the manipulator. Finally, computer simulations show that the winding control for a hyperredundant manipulator can be performed in 3 D-space.
