抄録
In this paper, we propose an optimization method of joint angles for Leg/wheel robot equipped with 3dof SCARA leg mechanism. The joint angle limit by the leg mechanism is considered in constraints of optimization and the velocity vector field is considered by optimization. The joint angle nearest to the wheel is calculated using other joint angles so that we can remove this joint angle from optimal variables. We optimize an index function using trigonometric function, however, this index function is nonlinear. So the optimal solution is calculated by sequential quadratic programming. To deal with the non-positive definite Hessian matrix, we introduce BFGS algorithm. The efficacy of this method is verified via the numerical simulations.
