2A2-A29 キャスティングマニピュレーションによる物体回収動作の生成

概要

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We have been developing a casting manipulator which includes a flexible light wire in the link mechanism to enlarge the workspace of the manipulator. In this paper we focus on the motion of collecting an object in the casting manipulation. We propose a method of moving the object in the air by multiple cooperative motions of swing of the arm and wind of the wire. We discuss how to pull the object effectively by using the mechanical device which changes the apparent elasticity of the wire and how to transform a ballistic trajectory to a circular motion. We then develop the motion generator which provides the optimal collect motion. We confirm the effectiveness of the proposed method through simulations, and realize the quick motion of collecting the object on the dynamic simulator.
一般社団法人日本機械学会の論文