主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2016
開催日: 2016/06/08 - 2016/06/11
The use of robots is expected in a human life environment except for industrial fields. The pose control of robots is however indispensable in the practical use of robots especially in a human life environment. This paper deals with a kinematics framework for controlling the pose of robots possessing a complicated and redundant configuration. The framework consists of metaphysical subsystems corresponding to robot parts such as joints, links, effectors, and so on. The closed network of subsystems composed in accordance with their connection rules brings a chain reaction of the processes of localized forward and inverse kinematics. The changes of network topology can make a different control for the demands of pose and use of robots. The framework has been applied a redundant manipulators to confirm the effectiveness and the feasibility of the framework.