Peg-in-hole作業における弾性要素を含むマニピュレータの運動学的評価

概要

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In a peg-in-hole task, the task-performable areas are graphically evaluated using gray scales from the manipulability and DMA (dexterity measure for assembly) in the areas reached by a manipulator. The DMA is represented as relation between a unit value of joint angular errors allowable in the task and a unit value of joint angular errors of the manipulator. The DMA consists of a DMGC (dexterity measure for geometric conditions) and a DMFC (dexterity measure for force conditions). These measures relate to task conditions, including both compliance of a remote center compliance device (RCC) and compliance of the manipulator joints. The task conditions are represented as physical models. The manipulability measure is used to check the kinematic accuracy of the manipulator. A graphic representation enables us to understand easily the relation ships between the task and the kinematics of the manipulator, since it integrates the DMA and the manipulability measure in the reachable areas.
一般社団法人日本機械学会の論文
1996-02-25