双腕フレキシブルマニピュレータの対象物捕獲作業における目標保持力の短時間での実現(機械力学,計測,自動制御)

概要

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This paper discusses an object capturing task with a two-arm flexible manipulator. To realize a stable capture with no slips at the end-effectors on the object surface, the internal force being developed in the object needs to rise quickly. For this purpose, the relationship between the end-effectors' approach velocities to the object and the internal force during the capture is analyzed with a simple mass-damper-spring model for the two-arm manipulator and the object system. Furthermore, a method for changing the control modes is proposed considering the resultant mechanical compliances at the tips of the arms so that the rise time of the internal force is reduced. The effectiveness of this method is verified with experiments.
一般社団法人日本機械学会の論文
2002-08-25