著者

神谷 好承 岡部 佐規一 横山 恭男

出版者

公益社団法人 精密工学会

雑誌

精密機械 (ISSN:03743543)

巻号頁・発行日

vol.47, no.6, pp.706-711, 1981-06-05 (Released:2009-06-30)

参考文献数

4

被引用文献数

1 1

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This paper deals with the motion control of a manipulator or an industrial robot arm. Generally speaking, manipulators or industrial robot arms that are constructed by the open-loop articulated kinematic chains are non-linear dynamic systems and the motion equation is described by the coupling dynamic systems between the connecting chains. So it is not easy to control a manipulator or a robot arm for positioning to the desired place at high speed. In this study, for the high speed motion of a robot arm, we tried to adapt the minimum time control to the motion of robot arm that has two articulated kinematic chains, and found the optimal path to move the robot arm from the initial configulation to the final configulation. This optimal path is very similar to the figure of which we move our own arms. And we showed the way to solve the near-minimum-time control for the multi-input and non-linear dynamic system like a robot arm that is constructed by the open-loop articulated kinematic chains.

著者

仇 時雨 牧野 洋 須田 大春 横山 恭男

出版者

日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.8, no.6, pp.680-687, 1990-12-15 (Released:2010-08-25)

参考文献数

9

被引用文献数

2 3

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This paper describes the study on free curve interpolation using Clothoidal curve, which gives a new tool for high-speed continuous path control. Control schemes are proposed for the manipulator to pass the given series of points smoothly at a constant-speed. In the problem formulated a criterion of limiting curvature during the entire path of motion. The Clothoid or Cornu spiral is a planar curve which is used in high-way design. Its curvature is proportional to the length of the curve measured from the origin of the spiral. Using Clothoid segments, the point series interpolation method is established and by applying this method to the welding, painting, sealing and bonding robots, it is expected to obtain the faster continuous path motion. Theoretical analysis is given and some calculated results are shown.