区分的に曲率一定な曲面形状ロボットの順運動学

抄録

Since surfaces have many variables and are integrable, the control theory for robots representing arbitrary surfaces is complicated. The kinematic theory is simplified in continuum manipulators by considering a manipulator and a model with piecewise constant curvature. This paper proposes a robot and a model with piecewise constant mean curvature for surface robots and explains its forward kinematics. The robot consists of a checkerboard pattern of sections with specified mean curvature and sections with zero mean curvature. The shape of the former is known, and that of the latter can be obtained by solving a simultaneous equations to minimize the area.