逆運動学マップで制御する冗長ロボットを用いた飛翔物体の捕獲の研究

Abstract

This paper describes about high-speed control of redundant degree of freedom (DOF) robot. In general it is very difficult to solve inverse kinematics of redundant DOF robot. For the purpose of it we try to use inverse kinematics map with diffusion equation method and error correcting method. The inverse kinematics map is calculated in offline. Some examinations are made on a real robot manipulator. Sometimes the desired end point of the manipulator does not fit with calculated lattice point. Then, the mapping points have to be recalculated for correcting. We use two artificial retina tips for stereo sensing a high-speed flight object.