凸多面錐理論に基づくマニピュレーションの運動学・静力学とそのマニピュレーション計画問題への応用 Kinematics and Statics of Manipulation Using the Theory of Polyhedral Convex Cones and Their Application to the Planning of Manipulative Operations
A systematic approach to the kinematic and static analysis of manipulative operations performed through mechanical contacts is presented. A variety of manipulation problems, including assembly and grasps, have been treated separately in different streams of robotics research. All of the problems are treated as problems to solve a certain class of inequalities resulting from the unidirectional nature of mechanical contacts. One of the fundamental difficulties in the analysis of manipulative operations is the intractable nature of inequalities.<br>In this paper, we establish an underpinning mathematical tool for dealing with a variety of manipulative operations that are governed by unidirectional constraints. First, we introduce a coherent representation for formulating various manipulation problems. Second, we develop several procedures based on the theory of polyhedral convex cones to solve these problems in a systematic and straightforward manner. The method is then implemented on a computer and is applied to a variety of manipulation problems including grasping, fixturing, assembly, and admittance control.
日本ロボット学会誌 17(1), pp.68-83, 1999-01-15
The Robotics Society of Japan