多自由度クレーン型マニピュレータの逆動力学計算と軌道制御

Abstract

This paper proposes a calculation method of inverse dynamics for a crane-type manipulator with multi-degrees of freedom. Firstly, a new crane-type parallel wire mechanism which has three trolleys and three wires is proposed for handling heavy objects. This handling mechanism enables not only three dimensional positioning but also orientating of objects, unlike typical crane mechanism. A dynamical model using wire force vector is presented. Using the dynamical model with wire force vector, inverse dynamics problem is solved as a solution of linear equation in terms of the wire force vector. The trajectory of end-effector can be transformed into the trajectory of wire length and trolley position by the calculation method. The method is used for controlling position and orientation of end-effector's trajectory. Two dimensional experimental crane-type manipulator is also developed to verify the effectiveness of the control method.