モード制御されたフレキシブル・リンク・ハンマをもつロボットによる重力場での打撃

概要

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This paper concerns a method by which a robot with a flexible link hammer can hit an object from an arbitrary direction in a 3-dimensional space. Since the flexible link hammer moves in a gravitational field, a dynamical equation of the hammer is obtained with the consideration of gravity. Hitting conditions in which the hammer can flap an object without tangential velocity to the object face at hitting are derived from the dynamical equation. In order to realize the hitting condition, the vibration of the flexible link is controlled by an optimal regulator with low-pass property. The controller can suppress the second and the higher modes in hitting or all the modes in setting the hammer. It is seen from experiments that the robot can drive a nail perpendicularly into wood by the proposed hitting method.
一般社団法人日本機械学会の論文
1996-04-25