カスピダルロボット：特異点を経ずに姿勢を変えられるロボット
Cuspidal Robots
特異点を通過せずに逆運動学の解を切り替えられる「カスピダルロボット」の歴史・特徴・識別法を解説し、3-R直交直列ロボットを中心に6自由度やパラレルロボットの事例も論じた章。
著者: Philippe Wenger
分類: cs.RO
原文アブストラクト
This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then been fascinating a lot of researchers. After a brief history of cuspidal robots, the chapter provides the main features of cuspidal robots: explanation of the non-singular change of posture, uniqueness domains, regions of feasible paths, identification and classification of cuspidal robots. The chapter focuses on 3-R orthogonal serial robots. The case of 6-dof robots and parallel robots is discussed in the end of this chapter.
関連論文
- カスピダル型シリアル・パラレルマニピュレータのレビューロボット機構学
