冗長マニピュレータを用いた障害物回避軌道の自動生成

抄録

Redundant manipulators can be defined as robots that possess more than the required degrees of freedom to accomplish a specific task. This feature allows redundant manipulators to achieve its target trajectory while changing its configuration according to the surrounding environment. When introducing robots in the workplace, a process called "teaching" is necessary to make them learn what to do. However, it takes time and technological skills to program their jobs. To increase productivity in frequently changing environments, we propose a method that automatically generates a trajectory to reach the target position and posture according to the work environment. The effectiveness of the proposed method was demonstrated using a cylindrical obstacle to simulate whether the robot can avoid the obstacle and approach the target position and posture.