非干渉一定慣性アームの設計理論

抄録

Manipulator arms are highly coupled nonlinear systems, which are difficult to control. This paper describes a design theory for reducing the dynamic complexity of the manipulator arms. The kinematic structure and mass distribution of a manipulator arm are designed so that the inertia matrix in the equation of motion becomes diagonal and/or invariant for an arbitrary arm configuration. For the decoupled and invariant inertia matrix, the system can be treated as linear, single-input, single-output systems with constant parameters. Hence the manipulator control is simplified and control performance can be improved.
First, the inertia matrix of a manipulator arm is analyzed in relation to the kinematic structure and link mass parameters. Necessary conditions for the manipulator arm to attain the decoupled and/or configuration-invariant inertia matrix are then obtained. For 2 and 3 b.o.f. arms, possible arm designs for the decoupled and/or invariant inertia are determined.