関節独立型運動学計算を用いたロボットの運動学計算ツール

抄録

Our research group has been developing a "Joint Independent Forward/Inverse Kinematics" calculation method that can easily set up kinematics calculations for robots with various structures. Based on the proposed method, we have developed a kinematics calculation tool that runs on a Linux-based OS to easily utilize the results of this research. The kinematics calculation tool can be used by manipulating the robot structure data on the shared memory by commands. Therefore, commands can be invoked from various programming languages, and user interfaces can be created according to the purpose. In this report, we describe the details of the kinematics calculation tool that can be executed on a Linux-based OS and an actual robot developed on the premise of using this tool.