2P1-B26 1自由度ロボットによる多角形対象物の投擲マニピュレーション

概要

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The present paper proposes the throwing manipulation method which cannot only control the position and orientation of the rigid object at the final goal, but also make the object track the desired trajectory which minimizes the impact at landing to avoid damages to the object as much as possible. The throwing motion is dynamic and quick, and the contact state between the robotic arm and the object changes drastically in the throwing manipulation. These make it difficult to obtain the exact model and find appropriate control inputs to realize the throwing manipulation by experiments. Therefore, applying the iteration learning method to overcome these problems, we show experimentally that the proposed control method can gain the high positioning performance and the trajectory tracking performance.