Efficient Motion of a Robot Manipulator for Task Achievement near Singular Configurations
| Project/Area Number |
23760230
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Kobe University |
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Principal Investigator |
URAKUBO Takateru 神戸大学, 大学院システム情報学研究科, 助教 (10335424)
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| Project Period (FY) |
2011 – 2013
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| Project Status |
Completed (Fiscal Year 2013)
|
| Budget Amount *help |
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2013: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2012: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2011: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
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| Keywords | ロボティクス / 機構学 / 動力学 / 特異姿勢 / 最適運動計画 / 機械力学 |
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| Research Abstract |
For motion control of a robot arm, singular configurations of the arm tend to be avoided. In this study, we showed that, when a certain kind of tasks are performed by a robot arm, the joint torques necessary to achieve the tasks can be reduced by using singular configurations.
The optimal motion for achieving the tasks was obtained by numerical optimization, and the dynamic features of singular configurations were revealed by analyzing the obtained motion. The experiments for an actual robot arm to achieve the obtained motion were performed to show that the advantage of singular configurations in reducing the joint torques is practically useful.
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Report
(4 results)
Research Products
(15 results)
