初期滑り時の接触面偏心度に基づく弾性体の把持力制御 Grip Force Control of the Elastic Body based on Contact Surface Eccentricity During the Incipient Slip

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In this research, the slip margin between an elastic object and a rigid plate is estimated based on the analysis of Hertz contact model. A method of the grip force control using the slip margin is proposed. When an elastic object is pressed and slid slightly on a rigid plate, a partial slip, called“incipient slip”occurs on the contact surface. The slip margin can be estimated based on tribology from the deformation of the elastic object, the tangential force and the radius on the contact surface. The deformation and the displacement of the elastic object are measured by the camera. In addition, the load force can be measured by the force sensor. In this research, a measuring device consists of a camera and a force sensor is developed.“Eccentricity”is defined to estimate the displacement of the elastic object from the shift of the contact area. The grip force is controlled based on the estimated slip margin without knowing the friction coefficient. The proof of the contact stability is obtained. The validity of the proposed method is confirmed by the experiment.

収録刊行物

  • 日本ロボット学会誌 = Journal of Robotics Society of Japan

    日本ロボット学会誌 = Journal of Robotics Society of Japan 23(3), 337-343, 2005-04-15

    一般社団法人 日本ロボット学会

参考文献:  12件中 1-12件 を表示

被引用文献:  6件中 1-6件 を表示

各種コード

  • NII論文ID(NAID)
    10015532179
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    7325487
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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