冗長マニピュレータの手先位置と腕姿勢の同時計画

-関節角速度を考慮した先読み探索の検討-

抄録

We have proposed a simultaneous planning method of hand position and arm posture of redundant manipulator to keep its manipulability and its avoidance manipulability. In the conventional method, it is occurred that infeasible control inputs of joint angular velocity are planned. Therefore, a new planning method is proposed where control inputs are planned with the look-ahead search considering the limit of the joint angular velocity in this paper.