逆スタティクス・ダイナミクスモデルを用いた多関節腕の運動適応

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  • ギャクスタティクス ダイナミクス モデル オ モチイタ タカンセツ ワン ノ ウンドウ テキオウ
  • Motion Adaptation of a Multijoint Arm using Inverse Statics and Dynamics Models

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Abstract

We have proposed a motion adaptation scheme using an inverse model of a controlled object based on human motion control. This scheme iteratively corrects the motor command by a Newton-like method based on the gradient of an inverse model and trajectory errors, and gives the motor command for a desired trajectory. In the current study, we extend this iterative control scheme to a modular system that consists of an inverse dynamics model (IDM) and an inverse statics model (ISM). In the proposal scheme, gravity factor is compensated by an acquired ISM a priori, and the motion adaptation is expected to cope with various changes of a movement environment. The effectiveness of the scheme is confirmed by computational simulation and actual experiments of a 2-link arm.

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