高冗長トラス形アームの多段形最適運動計画

抄録

The truss-type arm with high redundancy works by changing the length of the each member actively and independently due to its statically determinate feature. Redundant arms are currently being studied by a number of investigators because of their potential to realize the flexible and adaptive arm motion. In this paper, we discuss the motion planning problem as to how to properly use the redundant degrees of freedom under the required working environment and the solution procedure of global motion planning based on the dynamic programming algorithm is proposed. This method, using an initial estimation of the incremental sequence of arm motion is suitable for the high redundant arm. The results of numerical simulations of local and global motion planning show the effectivencess of this method as well as the assessment of the various criteria.