日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
ロボットと凸対象物との接触点算出のための隣接近似度等値法
金子 真谷江 和雄
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1992 年 10 巻 7 号 p. 976-982

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With a proper combination of compliant joint and position-controlled joint, a link system chatiges its posture with keeping contact between link system and environment. This is so-called Self-Posture Changing Motion (SPCM) and conveniently used to detect a contact point between robot and an unknown object. In conventional approach, a contact point has been computed as an intersecting point between two different link postures before and after SPCM. In general, this computation scheme gives us a contact point with unsatisfactory approximation, while it furnishes us with an exact contact point for a sharp-edged object. In this paper, we first introduce a concept of degree-of-approximation, which is defined as the distance between a computed point and the nearest point over the object surface, and then propose the Neighboring Degree-Of-Approximation Equating Method which improves the degree-of-approximation drastically and provides exact contact points not only for a sharp-edged object but also for a constant curved object. Mathematical framework is provided for the proposed computation scheme. Finally, the effectiveness of the proposed scheme is verified by simulations.

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