複数のロボット機構による協調的あやつりの力学

• 中村 仁彦

  京都大学工学部オートメーション研究施設

• 永井 清

  京都大学工学部オートメーション研究施設

• 吉川 恒夫

  京都大学工学部オートメーション研究施設

書誌事項

タイトル別名

• Mechanics of coordinative manipulation by multiple robotic mechanisms.

抄録

In this paper, the mechanics of coordinative manipulation by multiple robot manipulators or a multi-fingered robot hand is discussed. The coordinative manipulation problem is divided into two phases. One is determining the resultant force by multiple robotic mechanisms, and the other is determining the inner force between them. The resultant force is used for the manipulation of an object subjected by external forces or environmental constraints. The inner force is used for adapting the mechanisms to uncertainty or variety of the maximum static friction coefficient. Dynamic coordinative control scheme is proposed for determining the resultant forces. A method is also proposed to verify the coordinative manipulation ability, that is, the ability for generating an arbitrary acceleration of the object under the constraints of the maximum static friction. Finally, the optimal inner force is defined as the minimal-norm inner force necessary for satisfying maximum static friction constraints, and a non-linear programing method is applied to obtain the optimal solution. The optimal solution is necessarily obtained by solving, at most, mΣj=1 jΣi=0 _jC_i sets of algebraic equations, as long as it exists.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 4 (5), 489-498, 1986

  一般社団法人 日本ロボット学会

キーワード

• Robot Manipulator
• Robot Hand
• Coordinative Manipulation
• Coordinative Control
• Inner Force

詳細情報

• CRID: 1390001204724649344
• NII論文ID: 130000849659
• DOI: 10.7210/jrsj.4.489
• ISSN: 18847145
• ISSN: 02891824
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可