キャスティングマニピュレーションに関する研究 : 第4報,撃力を用いた飛行中のグリッパの姿勢制御(機械力学,計測,自動制御)

概要

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We have been developing a casting manipulator which includes a flexible string in the link mechanism to enlarge its work space. In the casting manipulation, a gripper, which is attached at the end of the string, is thrown to a target by releasing the string at suitable time after generating enough motion by swinging. In this paper we deal with the posture control of the gripper after the throwing motion. After we point out a problem of throwing the gripper while considering its posture at catching, we propose a method of applying an impulsive force to the gripper in the air through the string by restricting its motion. Investigating the characteristics of the string through experiments, we confirmed the effectiveness of the impulsive force. This method was evaluated by comparing the results of numerical simulations with those of the experiments using our experimental casting manipulator hardware.
一般社団法人日本機械学会の論文
2002-01-25