ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1P1-04b1
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超冗長ロボットの複雑な動作のための形状制御モデルの開発
新垣 涼平福丸 浩史林 朗弘原槙 真也佐竹 利文
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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.

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