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METHOD FOR DETERMINING REDUNDANT DEGREE OF FREEDOM OF REDUNDANT MANIPULATOR
METHOD FOR DETERMINING REDUNDANT DEGREE OF FREEDOM OF REDUNDANT MANIPULATOR
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机译：确定冗余操纵器自由度的方法
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摘要
PROBLEM TO BE SOLVED: To provide a technology that secures the continuity of an arm angle ψ when changing a hand tip 8 of a redundant manipulator 1 by CP control.;SOLUTION: A control device 100 includes: a state acquisition device 20 for acquiring a position and a posture state of the hand tip 8 in each step; an area calculation device 21 for calculating an area in which the arm angle ψ is possible in each step based on the position and the posture state of the hand tip 8 in each step; a combination creation device 22 for creating a combination of areas from a step s0 to a step sn so that areas of adjacent steps are mutually overlapped at least at a part thereof between the adjacent steps; and a redundant degree of a freedom determiner 23 for determining the arm angle ψ in each step of the CP control based on the combination of areas.;COPYRIGHT: (C)2012,JPO&INPIT
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