冗長マニピュレータの冗長性を利用した高手先加速度出力実現のためのGAを用いた動作計画

抄録

We have proposed motion planning method to speeding up tracking hand speed for path tracking task with constant hand speed. The conventional methods have problems that the methods cannot apply to generalized manipulators and need long calculation time. In this paper, we propose a motion planning method to adopt genetic algorithm. In order to adopt genetic algorithm, we must resolve a new problem. The new problem is a lag between to be required output timing and output timing having genes. We resolved the new problem by estimating output of required timing using fuzzy estimation. The proposal method can apply to generalized manipulators and became calculation time short.