運動学的冗長性と駆動冗長性を有するパラレルロボットの冗長性を利用したモーションコントロール

抄録

A motion control method of a novel 6 dof parallel robot driven by 2 limbs is proposed. This robot is redundantly driven by 8 actuators. By the special arrangement of the mechanism, the proposed parallel robot has combined of kinematic redundancy and actuation redundancy. Mechanisms, displacement analysis and Jacobian analysis have been reported in the previous reports. In this paper, the kinematic redundancy is focused on, and method for determining the positions of the redundant active joints using a cost function is discussed. In case of the parallel robot, it is difficult to derive the gradient of the cost function. An optimization procedure which does not require the gradient of the cost function is proposed. Cost functions for the singularity avoidance and collision avoidance are discussed. The proposed method was confirmed by numerical simulations.