転がりを用いた球体の姿勢制御

• 水野 伸太郎

  日本電信電話株式会社

• 三平 満司

  東京工業大学情報理工学研究科

• 古賀 雅伸

  東京工業大学情報理工学研究科

• 石川 将人

  東京工業大学情報理工学研究科

書誌事項

タイトル別名

• Manipulation of a Sphere Through Rolling.
• コロガリ オ モチイタ キュウタイ ノ シセイ セイギョ

抄録

In this paper, we consider dexterous manipulation through rolling motion. This problem is to steer an object by robot fingers using rolling motion and achieve the desired configuration inside the hand. The kinematic constraint of rolling is nonholonomic constraint, and it is known that designing a controller or path planning for such system is difficult. We consider a simple model of this problem which is a sphere held between two parallel plates and propose a method to design a feedback controller to achieve the desired orientation of the sphere. First step is to apply state and input transformation to the system and transform it into the form called 'the time-state control form'. Then by approximately linearizing it, we design a feedback controller using ordinary linear control theory. One state appeared to be uncontrollable, but by taking new coordinate system, we could make all the states to the desired point. Through numerical simulation, we will show that it is possible to manipulate a sphere to the desired configuration using this method.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 16 (1), 118-123, 1998

  一般社団法人 日本ロボット学会

キーワード

• Dexterous Manipulation
• Rolling Constraint
• Nonholonomic System
• Time-state Control Form

詳細情報

• CRID: 1390282679703612160
• NII論文ID: 10011652631
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.16.118
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 4379901
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4379901
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可