This study proposes an algorithm for automatic generating motion trajectories of robot manipulator. This algorithm consists of two procedures. First, motion trajectories of the tool head are generated by using the concept of repulsive vector fields and motion trajectories model which consists of a number of spr ings and mass. Then, a posture of robot manipulator is also automatically generated using the same concept. We are planning to apply this system as a remote handling device for nuclear power plants....
英字タイトル:
Algorithm for Automatic Generating Motion Trajectories of Robot Manipulator in Nuclear Power Plant