逆慣性行列を用いたロボットアームの動特性解析とその作業計画ならびにエンドエフェクタ設計への応用

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  • Dynamic Analysis of Robotic Arms Using Inverse Inertia Matrices and Its Applications to Task Planning and End-Effector Design
  • ギャク カンセイ ギョウレツ オ モチイタ ロボット アーム ノ ドウトクセイ

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A new approach to the dynamic analysis of a manipulator arm interacting with the environment is presented. Inertial properties of the manipulator arm and the end effector viewed from the environment are analyzed. It is found that, under a certain condition, there exists a particular point on the end effector, at which a linear force causes only a linear acceleration in the end effector, while a moment causes only an angular acceleration. The point is similar to the centroid of a single rigid body, hence referred to as the generalized centroid of the arm-and-end-effector system. The inertial properties are also characterized by the virtual mass, which is defined to be the equivalent mass of the arm and the end effector reflected to a point of interest.<br>The developed analytic tools are then applied to task planning and end effector design with emphasis on deburring and assembly. The orientation of a tool and the configuration of the manipulator arm are optimized in such a way that the arm-and-tool system possesses an appropriate virtual mass and the generalized centroid at an appropriate point.

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