F112004 自律制御系設計のための動力学的運動変換(【F11200】機械設計におけるバイオミメティクス,機素潤滑設計部門企画,先端技術フォーラム)

抄録

A robot control system requires a feedback controller and reference motion pattern. However, because of the phase lag of the closed loop system, the generated motion does not coincide to the reference pattern. Moreover, the reference pattern has time-constraint. Because of these reasons, the robustness of the motion will be low. On the other hand, the autonomous controlled system based on an orbit attractor overcomes these problems, however, it requires a realizable motion pattern that satisfies dynamical consistency. In this report, we introduce a motion transformation method to obtain the realizable motion pattern. The relationships between joint angles, angular velocities and accelerations are represented by a product of a matrix, and the motion capture data is transformed to the robot motion.