Casting Manipulation : Experiments of Swing and Gripper Throwing Control

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概要

• 論文の詳細を見る

• We have been developing a casting manipulator which includes a flexible string in the link mechanism in order to enlarge workspace of the manipulator. We proposed the swing motion control as the first step of casting manipulation. In this paper we deal with swing motion and throwing motion of casting manipulation. First, we show a method of generating pendulum swing and demonstrate the effectiveness of the proposed control method through experiments using a prototype casting manipulator. Next, we clarify that the main factors which disturb throwing motion are the time delay of releasing a gripper and frictional force which also disturbs flying motion of the gripper based on the results of throwing experiments. We propose a method of compensating these factors. Through the evaluation by comparing the results of numerical simulation with those of experiments, we show that the proposed method helps to reduce the position error of the gripper which reaches to the target.

• 一般社団法人日本機械学会の論文
• 2002-03-15

著者

• YOKOI Kazuhito

  Mechanical Engineering Laboratory

• Yokoi Kazuhito

  Mechanical Engineering Laboratory Aist Miti

• Kotoku Tetsuo

  Mechanical Engineering Laboratory Aist Miti

• Komoriya Kiyoshi

  Mechanical Engineering Laboratory Aist Miti

• ARISUMI Hitoshi

  Mechanical Engineering Laboratory, AIST, MITI

• Arisumi Hitoshi

  Mechanical Engineering Laboratory Aist Miti

関連論文

• Grasp Control for a Multifingered Hand with Kinematic Redundancy : Experiments on Stable Grasp by the Direct Compliance Control Method
• Casting Manipulation : Experiments of Swing and Gripper Throwing Control

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