繰返し順変換によるロボットの運動制御(<小特集> インテリジェント・システム)

抄録

Robotic manipulators are generally controlled by individual articulation of each robot. Thus, robotic operations defined by working coordinates must be translated into articulation coordinates for each robot. This translation from working coordinates to articulation coordinates generally requires solution of inverse kinematics of the robot. However, the inverse kinematics of the robot sometimes cannot provide a solution due to its complexity. This paper shows a new method for controlling the robot using the solutions of repeated direct kinematics instead of inverse kinematics of the robot, and shows that the solution of repeated direct kinematics is equivalent to the solution of the inverse kinematics of the robot. Furthermore it is also shown experimentally that this method is applicable to the control of position and force of the robot.