1A1-K09 ロボットアームの強度的危険性を回避するための動作計画法 : 慣性項の導入(動作計画と制御の新展開)

Abstract

In this paper, a motion-planning scheme that enables robot arms to avoid structural damage is described. By using this scheme, the robot arms are encouraged to protect themselves from structural damage by searching for a safer attitude when their structural risk becomes high during their given tasks. The structural risk is determined by using two parameters, i.e., yield function value and total strain energy in the architecture. Furthermore, more strict risk judge is enabled by considering inertia in target motion calculation algorithm.