DEVELOPMENT OF REDUNDANT MULTI ARM MACHINE SYSTEM

摘要

Serial link mechanical system usually has minimum degree of freedom (DOF) structure to work with. However, the complicated task which needs more DOF has risen markedly in recent years. It is required that a serial link machine with redundant DOF to meet such works. The aim of this paper is a development of the redundant DOF serial link arm machine for complicated task. Each arm can move independently to avoid obstacles. The proposed multi axes arm has five serial link mechanisms and one front endeffector. With modified inverse kinematics (IK) theory, each actuator is controlled to track the optimal trajectory and this realizes easy manipulation for operator. This system is applicable for both manual and remote operation. Unmanned operation for the dangerous task is also possible.