双腕マニピュレータの環境学習制御

Abstract

Positioning problem of solid object is happened at the last step of material handling when we let the object reach for goal point. In the material handling with grasping by position-controled manipulator, the stiffness of grasping is reduced to avoid collision problem which is happened at the moment of grasping generally. However this makes the accuracy of positioning poor at the last step. In this paper, we make attention to sliding movement of an object on horizontal plane with non-linear friction which enable stable contact between the object and manipulator and report the way of positioning by sliding the object on horizontal plane with position-controled manipulator which isn't made the end efector's stiffness lower as one of solutions for collision problem. Also, we establish the characteristics equation analyzing slide movement and compare with experimental results.