208105 速度目標による作業記述に基づく運動軌道生成(OS17 ロボティクス・メカトロニクス2,オーガナイズド・セッション)

Abstract

Robots are usually controlled by the hand 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 motion trajectory generation method based on task description by velocity target. To verify our method, we conducted simulations on task of hitting and throwing. As a result, we confirm the two advantages of the motion control of robot with velocity trajectory; the first is able to adjust easily the velocity of robot at the time of release or hitting; the second is able to achieve the same task in different positions by changing the task position of the robot hand.