構造力学的パラメータを導入したマニピュレータの動作計画
Motion Planning of Manipulators Using Structural Parameters

Abstract


 有限要素法を用い,強度的に危険な姿勢を回避するマニピュレータの動作計画法を開発した.曲げ変形に対する精度が高い3次はり要素でマニピュレータをモデル化し,断面力およびひずみエネルギの次元で強度的危険性を監視する.実機による擬似実験を行い,その実用性について検証した.


In this paper, motion planning of robotic architecture considering its structural strength is applied to a 3-link manipulator, modeled by using cubic beam elements based on the Bernoulli-Euler hypothesis. In the motion-planning algorithm, when the risk of member yielding becomes higher while the robot is in motion, a safer attitude for restraining its total strain energy is searched. Risk for member yielding and total strain energy are calculated by using the Finite Element Method (FEM), and an attitude for restraining total strain energy is searched by using the Direct Search Method (DSM). Some numerical tests are carried out on a 3-link manipulator and effective motion plans are obtained. Furthermore, the motion-planning algorithm is implemented to an experimental system to verify the validity and practicability.


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