作動範囲に基づく把持システム可操作性指標

抄録

This paper presents a novel approach for manipulability for grasping systems. We present a new manipulability measure to evaluate how much easily the robot manipulates the grasped object, simultaneously keeping stable grasp. For the purpose, we use operation range. The operation range is for actuator attached to every joint of robot and provides generable joint torque and velocity and their relation (between generating torque/velocity and actually usable velocity/torque). While we introduced a manipulability measure using the operation range in our previous paper, it was for a limited class due to large computational effort and we could not evaluate whole space of object velocity and could not consider whole space of external wrench. In this paper, we propose new manipulability measures which can be derived simply and can evaluate whole space of object velocity, taking the effect of whole external wrench into consideration.