運動学的冗長マニピュレータの手先運動-冗長運動間の動的干渉による動的可操作性多面体の変動

抄録

In this research, we conduct dynamic analysis on the coupling between velocity and acceleration on the extended operational space. The extended operational space is consisted a oparetional space of the manipulator and a redundant space. Redundant space is a null space of a oparetional space. Dynamic Manipulability Polyhedron(DMP)[4] is a set of accelerations that can be driven within the maximum torque. The equation of coupling represents that DMP is translated proportionally with velocity of redundancy. Adequacy of the translation of DMP is confirmed by Applying this equation of coupling to the redundant manipulator and by calculate the driving torque by substitute various redundant velocitys and various accelerations.