抄録
The integrated robot design method designs a robot body and a robot motion simultaneously. In this method, not only the motion pattern, but also the robot body parameters are designed to maximize (or minimize) a given evaluation function which defines the robot motion performance. The proposed method also considers motion conditions which contain dynamical consistency, self-collision avoidance, limitations of joint angle, angular velocity and torque, etc.. These conditions are utilized as the constraints to obtain the feasible robot motion. In this paper, an integrated robot design method is validated by experiments of ball throwing motion. A ball throwing motion performed by a human is transformed to a motion pattern of the 9 degrees of freedom (DOFs) arm robot, and the robot body parameters are designed simultaneously. As a result, the robot motions are realized, and effectiveness of the integrated robot design method is demonstrated.
