溢流の防止を考慮した液体ハンドリング制御(機械力学,計測,自動制御)

概要

論文の詳細を見る
In the near future, there will be a significant problem obtaining workers in the fields of welfare and nursing care because of a labor shortage. To solve this problem, many welfare robots, such as an upper extremity motion assistance robot and a meal assistance robot, have been studied. However, many problems remain regarding the practical application of meal assistance robots. Liquid transfer control is a challenge in robot design for meal assistance robots. Patients who have difficulty swallowing or weak sucking ability require a liquid diet, and there is thus a strong need for the development of a meal assist robot that can avoid spilling. The purpose of this paper is to design the trajectory with spilling avoidance when the spoon containing the liquid is transferred by manipulator. In order to avoid spilling of the liquid, a spilling model was evaluated by using a fluid analysis simulator. The effectiveness of the proposed method is shown by simulations and experiments.
一般社団法人日本機械学会の論文
2009-06-25