日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
論文
運動学的拘束条件のみを考慮したフラワースティックの回転操作
青山 忠義高木 健三浦 拓実石井 抱
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ジャーナル フリー

35 巻 (2017) 3 号 p. 258-266

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Motion planning for non-grasp manipulation is a typical kinodynamic problem which is required to solve both kinematic and dynamic constraint. So far, realized non-grasp manipulation is limited due to the difficulty of kinodynamic constrained condition. This paper proposes a non-grasp manipulation method considering only kinematic constraint and realize dynamical manipulation which is hitherto unrealized motion. This work focuses on flower stick juggling and constructs a feedback control strategy for a flower stick juggling task called “propeller” as one of the hitherto unrealized non-grasp manipulations. The propeller motion is modeled by considering combined flower stick and a robotic manipulator. We developed a control strategy that allows stable cyclic rotation of the flower stick in the air and the flower stick propeller motion is realized using an actual robotic system. Finally, we conduct a stability analysis of the generated cyclic motion of the flower stick by using a Poincar\'e map, and the analytical results show that the generated cyclic motion is asymptotically stable.

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© 2017 日本ロボット学会
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