Optimal grasping poses of manipulators for cooperative manipulation with passive joints

Ryo Ohta, Hisashi Osumi, Yusuke Tamura

研究成果: Conference contribution

抄録

This paper discusses an object handling system using three position-controlled manipulators. Mechanical compliance units are installed between each manipulator tip and its hand in order not to generate an excessive inner forces among manipulators caused by mutual positioning errors. From our previous studies, the kinematic conditions of the compliance units necessary for the position control based coordination are made clear and four passive joints are used here for each compliance unit to satisfy the conditions. In the system, the loads distributed to each manipulator tip are changed according to both the passive joint angles and the grasping points of the handled object. Therefore we firstly obtain the relationship between the grasping points and the distributed loads to each hand and then analyze the relationship between the passive joint angles and the loads given to each manipulator tip. Using these relationships we propose the searching scheme for the optimal grasping poses and passive joint angles. The effectiveness of the proposed scheme and the developed system are verified by a fundamental experiment and simulations.

本文言語English
ホスト出版物のタイトル2014 IEEE/SICE International Symposium on System Integration, SII 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ447-452
ページ数6
ISBN(電子版)9781479969449
DOI
出版ステータスPublished - 2014 1月 30
外部発表はい
イベント7th IEEE/SICE International Symposium on System Integration, SII 2014 - Tokyo, Japan
継続期間: 2014 12月 132014 12月 15

出版物シリーズ

名前2014 IEEE/SICE International Symposium on System Integration, SII 2014

Other

Other7th IEEE/SICE International Symposium on System Integration, SII 2014
国/地域Japan
CityTokyo
Period14/12/1314/12/15

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ ネットワークおよび通信
  • 情報システム

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