障害物回避を考慮した冗長ロボットの経路追従における規範速度生成

抄録

A contour following control method based on dynamic parametrization for redundant robots is proposed in this paper. The proposed method makes a redundant robot follow the desired contour in work space with executing a subtask whose objective is to maximize a cost function, such as distance between the robot and an obstacle. The method also guarantees the lower limit of the cost function which implies that the performance of the subtask is able to be evaluated. Results of numerical simulations show the effectiveness of the proposed method.