The scheme of maneuver device and presently of the controlled system in scheme of maneuver

摘要

PROBLEM TO BE SOLVED: To generate smooth paths of a robot and an articulated arm from a present position posture to a target position posture.;SOLUTION: A multi rigid body system dynamics model is built by setting an initial position posture of a rigid body while a path searched by an RRT is set up to be an initial path of a control target and positions of respective nodes on the initial path, are set up to be initial positions of representative points of the rigid body, and initial postures of respective nodes of the rigid body are suitably assigned. Multi rigid body system dynamic simulation is executed by adding dynamic restraint expressing each required item to each rigid body of the multi rigid body system as an external force model exerted to the multi rigid body system.;COPYRIGHT: (C)2010,JPO&INPIT