曲面形状ロボットの逆運動学問題とシミュレーションによる解法

抄録

In this paper, we will discuss the inverse kinematics problem of curved surface robots. In this problem, the shape of a point, a curve or a partial area is given as constraint conditions. We need to formulate the inverse kinematics problem based on these. We will present this formulation and show numerical simulation results on the simplest inverse kinematics problem when the overall shape of the curved surface is given as a constraint condition in this paper.