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- ODA Koutarou
- Yokohama National University
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- MAEDA Yusuke
- Yokohama National University
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- MAKITA Satoshi
- Yokohama National University
Bibliographic Information
- Other Title
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- 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
Abstract
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.
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2006 (0), _1A1-B31_1-_1A1-B31_4, 2006
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390282680911140736
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- NII Article ID
- 110008693627
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed