Abstract
本報告では，強度的に危険な姿勢を回避したマニピュレータの動作計画の必要性を示唆し，機構内に蓄積されるひずみエネルギの抑制を図った動作軌道を導出するアルゴリズムの開発・検証を行った．本アルゴリズムでは，動作中に構成材料の降伏危険度が高くなった場合に，ひずみエネルギを抑制する姿勢が探索され，得られた姿勢を経由して最終的な目標姿勢に向かう軌道が作成される．なお，降伏危険度を示す断面力やひずみエネルギは有限要素法により導出し，ひずみエネルギを抑制する姿勢の探索には直接探索法を用いた．
This paper describes a new way of motion planning of manipulators by aiming restraint of total strain energy stored in the architectures. By this motion planning, a manipulator can avoid yielding of its constituting link members. In the algorithm, when the risk of member yielding becomes higher while a manipulator is in motion, a safe attitude for restraining its total strain energy is searched. At the next step, a new trajectory is created, beginning with the obtained attitude, and ends with the final target which is initially given. The procedure is repeated until a converged attitude is obtained. Risk for member yielding and total strain energy are calculated by Finite Element Method (FEM), and an attitude for restraining total strain energy is searched by Direct Search Method. Some numerical tests are carried out with a 3-link manipulator, and the results show a possibility of using strain energy as a new parameter for motion planning.