状態制約・入力制約を有する6自由度ロボットアームの連続時間動作計画アルゴリズム開発

抄録

In this paper, we solve a motion planning problem for a 6-DoF robot arm, which is a practical nonlinear system, under constraints. Our method formulates the problem to a NLP under constraints with parameterizing a trajectory of joints. Furthermore, we use a Lie group formulation of recursive inverse dynamics algorithm for checking control constraints with low computational cost. We checked that our algorithm solves the problem in practical computational time by a numerical simulation.