柔軟接触センサを備えたロボットハンドによる物体置き動作(機械力学,計測,自動制御)

概要

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We discuss a placing motion of a grasped object by a robot hand equipped with a flexible sensor on the finger. The aim of this study is to realize a quick placing motion with the impulse force between the object and the floor small. To derive a dynamic model of the motion, we consider the deformation of the flexible sensor occuring when the hand grasps the object. The dynamic model represents the relationship between the impulse force and an approaching trajectory of the robot hand to the floor. From this model, we can obtain the trajectory of the hand which ensures that the impact force is less than the object's mass. The validity of the model and the effect of the sensor's flexibility are examined through simulation. We then experimentally confirm that the robot hand puts down the object without an excessive impact force by using the obtained trajectory.
社団法人日本機械学会の論文
2007-01-25