甩动操作采用1自由度机械手

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-10-29 DOI:10.1109/IROS.2001.973348

T. Tabata, Y. Aiyama

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引用次数: 27

摘要

一些研究采用滑动、滚动、释放等低自由度机械臂来完成复杂的操作任务。它们被称为动态操作。本文介绍了抛动操纵作为动态操纵的一种形式。一自由度机械臂通过摆动手臂使物体在其上滚动/滑动，然后将物体抛向目标位置。本文对抛掷操纵的运动学模型进行了分析和仿真。为了将目标定位到期望位置，利用各种优化方法求解逆问题。最后讨论了实验结果及注意事项。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Tossing manipulation by 1 degree-of-freedom manipulator

There are some researches which perform complex manipulation tasks with low degree-of-freedom manipulator by sliding, rolling, releasing etc. They are called dynamic manipulation. In this paper, tossing manipulation is introduced as a form of dynamic manipulation. A 1-DOF manipulator swings its arm to roll/slide an object on it, and then tosses it to locate to goal position. This paper shows an analysis and a simulation of kinematic model of tossing manipulation. To locate an object to desired position, inverse problem is solved with various optimizations. Finally some experiments and their consideration are discussed.

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Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

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