連続・離散駆動ハイブリッドマニピュレータとその逆運動学アルゴリズムの提案

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2014/12/01

タイトル(英語): Inverse Kinematics Algorithm of Continuous/Discrete Hybrid Manipulator

著者名: 前田　健介（名城大学理工学部情報工学科），小中　英嗣（名城大学理工学部情報工学科）

著者名(英語): Kensuke Maeda (Department of Information Engineering, Faculty of Science and Technology, Meijo University), Eiji Konaka (Department of Information Engineering, Faculty of Science and Technology, Meijo University)

キーワード: パイナリマニピュレータ，Gough-Stewart platform，逆運動学，近似作業領域　　binary manipulator，Stewart platform，inverse kinematics，workspace approximation

要約(英語): In this paper, structurally-novel manipulator called “hybrid manipulator” is proposed. The hybrid manipulator is defined as a serial connection of a binary manipulator and a (Gough-Stewart type) parallel manipulator.Both structures are known as high rigidity and stability for static loads. The binary manipulator has wide workspace, however, its workspace is discrete. On the other hand, the parallel manipulator has high accuracy for continuous positioning, however, its workspace is narrow. Therefore, the proposed structure has advantages of both the binary manipulator and the parallel manipulator.An inverse kinematics algorithm of hybrid manipulator is also proposed. The proposed algorithm consists of ellipsoidal approximation of the workspace and recursive process. The proposed algorithm can realize fast solution of the inverse kinematics problem. The proposed algorithm is verified through numerical experiments.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.134 No.12 （2014） 特集：電気関係学会東海支部連合大会

本誌掲載ページ: 1783-1795 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/134/12/134_1783/_article/-char/ja/