区分的に曲率一定な曲面形状ロボットの逆運動学

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  • Inverse Kinematics for Robotic Surfaces with Piecewise Constant Curvature

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<p>For continuum manipulators, a curve model with piecewise constant curvature segments can be adopted to define the structure-independent transformations in the kinematics. A model with an assumption on curvature is also considered to be useful for kinematics of robotic surfaces. The author have proposed a surface model with piecewise constant mean curvature in 2022. This surface model consists of constant mean curvature surfaces, which is easy to express as a function, and surfaces with minimal area. In this paper, we will propose the inverse kinematics of robotic surfaces with this surface model. Numerical simulations confirm that the proposed algorithm can compute the configuration parameters such that the specified point position on the robot coincides with a target position.</p>

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