Motion planning of manipulators regarding structural safety as a prior condition

摘要

In this paper, a motion-planning scheme that enables manipulators to avoid structural damage is described. Using this scheme, manipulators are encouraged to protect themselves from structural damage by searching for a safer attitude when their structural risk becomes high during their given tasks. The structural risk is determined by using two parameters, i.e., the resultant forces and total strain energy stored in the architecture, which are calculated by the finite element method. Three schemes of motion planning that use the structural parameters are compared by carrying out numerical tests with structurally severe tasks. Furthermore, the proposed strategy is implemented in the interface of a robotic arm to verify its validity. The experimental results revealed the practicability of the scheme in avoiding structural damage to the constituent members.