物体間の接触の安定性に関する評価

抄録

In assembly operations, there are various constraint states while a moving object is in contact with a fixed object. For different constraint states, the existent regions of contacting forces, geometrical constraints, possible object displacements, which can be expressed by polyhedral convex cones respectively, are different. We consider that the sizes of these regions are important characteristic of contact stability for planning assembly operations. This paper proposes an approach that can evaluate the sizes of these regions. Based on this approach, the magnitudes of form constraint region, applicable equilibrating force region and admissible displacement region are defined to evaluate the contact stability of constraint state. Then, their applications to planning of assembly tasks are discussed.