マニュピレーションを考慮した協働作業ロボットの適応的ゴール位置探索とアーム軌道計画手法の開発

抄録

For service execution in collaborative robots, many goal positioning methods have been proposed, but their suitability for service execution is rarely considered, which may hinder the performance of actual service tasks. Therefore, we propose an adaptive goal location and trajectory planning method that simultaneously considers movement and manipulation by extending Adaptive Goal Finder (AGF). In addition to the conventional AGF, manipulation-aware trajectory planning is realized by considering the cost of each arm movement. Experimental results show that the proposed method can reduce the task execution time compared to the conventional method, and also improves the human evaluation of the proposed method.