抄録
The paper presents a procedure for designing terminal motion trajectories which are used when a manipulator hand carries an object from one place to another in the operating space. For constructing the space trajectory, the mathematical model of time trajectories which has been obtained by analyzing human hand motions, is used as the components in the three axis directions. The trajectory parameters are determined by specifying the positions of the terminal points and the direction vectors of the space trajectory at the terminal points. In the design procedure, the quantities of overshoot and undershoot in each direction can be specified as well. In this paper, some diagrams which are necessary to select the trajectory parameters are given and design examples of plane trajectories are shown.
