The Study on Space Trajectory Generation of Active Cord Mechanism

摘要

A method for calculating a space trajectory of Active Cord Mechanism(ACM) is proposed in this paper. This method is expected to be useful for path planning of Hyper-redundant robots such as snake-like robots. The studies on planar trajectories for mobile robots have been conducted widely, but space trajectories for mobile robots have not been treated generally. Firstly we propose simultaneous differential equations of a space curve for ACM, then we show some examples of calculations. Finally some results of path planning are presented.