20211 速度を目標とした作業記述によるロボットの運動制御(ロボット(1),一般講演)

Abstract

Robot are usually controlled by the end effecter position trajectory or joint angle trajectory. However, in task of throwing or hitting, the most important parameter of the task is velocity at the time of release or hitting. We propose the trajectory generation method by velocity target. To verify our method, we conducted experiments on task of throwing, hitting, and thawing. As a result, we can ignore differences of origin between human and robot when we generate the same trajectory as human being.