6軸マニピュレータにおける手先位置姿勢の制御方法についての精度および処理速度比較

抄録

In recent years, the tasks required of robots have become increasingly sophisticated. To meet these demands, robots need manipulators with high degrees of freedom and branching like humans. Control theory using an exponential coordinates system is suitable for controlling such high DOF manipulators with bifurcations. However, there are no practical examples, and its practicality is unknown.

Therefore, this study confirms that control using an exponential coordinates system is effective. For this purpose, a comparison was made between the conventional control method of a 6-DOF manipulator based on the time derivative of the tip position and posture, and the control method using an exponential coordinates system in terms of accuracy and processing speed.