1A1-C03 建機マニピュレータの手先外力ベクトル計測 : 内在誤差範囲推定に基づく相対的計測精度向上(建設・解体ロボット・メカトロニクス)

概要

論文の詳細を見る
This paper reports a practical framework for measuring the external force vector applied to a construction manipulator using hydraulic sensors. Such a measuring system inevitably includes measuring errors owing to difficult-to-reduce modeling errors, so our framework introduces relative measuring accuracy improvement. It is organized into (i) quantifying internal error range (IER) using the summation of the maximum measuring error of static and dynamic friction forces, (ii) calculating error force vectors using IER to select cylinders with less errors, and (iii) outputting the external force vector using the selected cylinders. Experiments were conducted using an instrumented hydraulic arm. Results indicate that our framework enables to improve the relative measuring accuracy, independently of various postural and kinematic conditions.
一般社団法人日本機械学会の論文
2011-05-26