マルチリンクロボットのトルクや運動エネルギを考慮した動作修正

抄録

Recently, the robots have been used widely in various fields. Along with that, opportunities to use robots by users without expertise are increasing. Recently, the robots have been used widely in various fields. Along with that, opportunities to use robots by users without expertise are increasing. Therefore, the methods for simplifying the operation of the robot are required. In a previous study, we have proposed a method that uses the dynamic model and virtual external force and torque to simplify the motion generation of multi-link robot. In the proposed method, the virtual external force or torque is used as the constraint. The dynamic motion simulation is performed, then, from the simulation result, reference motion of the real robot arm is obtained. The effectiveness of the method was confirmed through several numerical simulations, but consideration of dynamic characteristics was insufficient. There is kinetic energy and operating torque as dynamic characteristics. The kinetic energy and the operating torque depend on the joint angular acceleration of the robot. In previous proposed method, there is the problem that the other constraint conditions can not consider when operating torque is controlled since the external force is converted to torque by inverse dynamic model. In this study, we propose new motion generation method considering the dynamic characteristics by correcting the target value. In this method, when the operation torque and kinetic energy is increase, the target value time decelerates. As a result, angular acceleration decreases and kinetic energy and operating torque decrease. In this paper, we verify the effectiveness of the method by the simulation and show the result.