理論検証のためのユニット構成型ロボットアームの開発

抄録

In Japan, where the birthrate is declining and the population is aging, robots are being used to perform alternative tasks. However, it has been difficult to realize a redundant arm with a tree structure by using a control theory suitable for a conventional single arm from the viewpoints of computational cost and modification of the control model. Therefore, we propose a robot arm control theory that uses exponential coordinates. This theory enables flexible control of tree-structured arms. On the other hand, it is rarely applied to actual arms because the computational cost for serial link arms is larger than that of conventional theories. The purpose of our research is to verify the characteristics of the control theory using exponential coordinates by applying it to an actual robot arm, and to evaluate its effectiveness. For this purpose, we develop Unit-configured robot arm for theory verification.