2P1-J05 Motion Planning of Redundant Manipulators and Optimization of Initial Position for High-Speed Motion(New Control Theory and Motion Control)

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  • 2P1-J05 手先動作の高速化を目的とした冗長マニピュレータの動作計画と初期配置最適化(動作計画と制御の新展開)

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This study aims at increasing motion speed of redundant manipulators under the limit of torque. We focused on that we can decide motion planning and initial position freely, if only hand trajectory was decided. First, we considered motion planning of redundant manipulators by simulation. Then, best motion plan for high-speed motion emerged. Second, we considered initial position of redundant manipulators by simulation. Then, a relation between initial position and motion speed emerged, and it enabled optimization of initial position. Accordingly, we optimized initial position using the relation for high-speed motion. Finally, increasing motion speed of redundant manipulators succeeded by motion planning and optimization of initial position.

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