ロボットマニピュレータの運動学と動力学の統合化計算

抄録

Dynamic control is one of the methods which enable quick and accurate motion of robot manipulators. Dynamic control has been difficult to be performed real time by using presently available microcomputers since it requires huge amount of computation. Various efficient recursive computation algorithms have been proposed, especially for inverse dynamics (ID). However, it requires not only ID calculation but also direct kinematics (DK) and inverse kinematics (IK) calculation. We proposed efficient recursive algorithms for DK and IK and reported that the total amount of calculation can be reduced by eliminating duplications included in DK, IK and ID.
In this paper, new computational algorithms for DK, IK and ID are formulated so that they should include as many same physical values as possible. The total amount of computation can be reduced up to 42% in multiplication and 33% in addition by eliminating duplicated computation. These algorithms are useful for the computational part of versatile robot controller or dynamic robot simulator.