Proposal of an Algorithm to generate optimal trajectory for a multistage Tensegric robot arm

抄録

Due to the development of robot technology, practical use of the robot also has a great progress in the past 20 years. There are still several problems to build a gigantic robot with ordinary structure because of the Square-cube law; Tensegric structure could be a suitable solution of building a robot which is over 10m height. Tensegrity is formed by a set of disconnected rigid elements connected by continuous network of tensile elements. It possesses so light weight that the larger size structure can be constructed. In the previous researches we already study about the stress dispersion effects of multistage Tensegric structure arm and a trajectory shaping taking account of stress dispersion is presented that is not smooth. This paper discusses a new idea of fast trajectory generation algorithm for kinematic control of a multistage Tensegric robot arm.