拘束に基づくロボットの動作生成

抄録

This paper describes a systematic method which can generate effective robot motion for handling constrained objects automatically. In this study, constraints which appear in the time of object manipulation are divided into following three parts. The first one is a natural constraint which is observed between an object and a base on which the object is constrained. Most of the natural constraints of industrial products are considered as a kinematic pair and this fact makes costraint problem simple. The second one is an artificial constraint which exists between an object and an end-effector whenever the object is handled. In this study, every artificial constraint is reduced to primitive relation between two fundamental surfaces. The last one is a configurational constraint which corresponds to a capability of robot. With evaluating these constraints, effective positions and orientations of the end-effector which can perform the specified task are calculated and robot motion to deal with a constrained object can be generated appropriately.