Efficient kinematics using quaternions for serial and antiparallel link robot arms

西井, 一敏; 奥松, 美宏; 羽多野, 顕

doi:10.51094/jxiv.874

##article.authors##

西井, 一敏トヨタ自動車株式会社　未来創生センター
奥松, 美宏トヨタ自動車株式会社　未来創生センター
羽多野, 顕トヨタ自動車株式会社　未来創生センター

DOI:

https://doi.org/10.51094/jxiv.874

キーワード:

kinematics、 parallel link

抄録

デュアルクォータニオンは、ロボット運動学において同次変換行列の代替として提案されています。クォータニオンを用いて逆運動学計算の解析勾配を導出するためには、対数クォータニオンへの変換が必要ですが、二つの課題が残っています。初期誤差が大きい状態では、解析的勾配が非常に大きくなり、安定した収束が得られません。また、収束過程において局所解に陥る傾向があります。さらに、パラレルリンク機構の効率的なモデリング手法はまだ議論されていません。本研究では、クォータニオンの解析的勾配を安定的に得るための新しい手法を提案します。提案手法は、シリアルリンク機構とアンチパラレルリンク機構を組み合わせたロボットアームに適用され、アンチパラレルリンク機構のための新しい運動学モデリング手法が提案されました。提案手法は従来の方法よりも安定した解を提供し、解の精度が約10%向上したことが確認されました。

利益相反に関する開示

No potential conflicts of interest were disclosed

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