1A1-B31 ロボットマニピュレーションにおける接触力の力学解析 1A1-B31 Mechanical Analysis of Contact Forces in Robotic Manipulation

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抄録

In this paper, we analyze contact forces in robotic manipulation such as power grasps. In power grasps, the robot can keep grasping the object without changing its joint torques against external disturbances to some extent. However, the grasp forces in power grasps maybe indeterminate even if all the joint torques are given. A previous study by Omata et al. showed that there is a range of friction forces derived from a constraint on sliding. The range of contact forces can be calculated from the range of friction forces. Although the previous study only discuss power grasps, the method can be applied to other situations such as graspless manipulation. However, there are some cases where this method overlooks possible friction forces. We present a modified method to solve this problem.

収録刊行物

  • ロボティクス・メカトロニクス講演会講演概要集   [巻号一覧]

    ロボティクス・メカトロニクス講演会講演概要集 2006, "1A1-B31(1)"-"1A1-B31(4)", 2006  [この号の目次]

    一般社団法人日本機械学会

各種コード

  • NII論文ID(NAID)
    110008693627
  • NII書誌ID(NCID)
    AA11902933
  • 本文言語コード
    JPN
  • データ提供元
    NII-ELS 
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