冗長パラレルマニピュレータの知的動作計画

抄録

In this study, a robot using a parallel mechanism as parts of the body is proposed. The robot integrates locomotion and manipulation, and mainly consists of four 3 DOF parallel mechanism with linear actuators and two grippers attached to both sides of the body. "The robot has high redundancy with 14-DOF without grippers". The purpose of this study is to realize "Intelligent Motion" of the redundant parallel manipulator that performs basic motion of the proposed robot. The robot determines the motion with considering its redundancy and improves it by using actuator informations that are taken in through the motion. First, this paper treats the analysis of kinematics and statics about the parallel manipulator, and shows the method to optimize the solution of inverse kinematics that includes redundancy problem. Next, the intelligent motion task planning of the parallel manipulator using actuator informations is mentioned. Two methods are proposed based on optimization of inverse kinematics. One optimizes the motion by iterative exercise. The other optimizes the motion successively in continuous motion tasks. Finally, the effectiveness of the proposed methods were verified through the experiment.