クランクまわし作業のタスク理解
2004 年 22 巻 7 号 p. 881-891
詳細
2004 年 22 巻 7 号 p. 881-891
The task understanding is completely examined for a task of crank turning by a robot manipulator. A task model embedded uncertain factors as unknown parameters is constructed. Analyzing its task model, we propose a robust task strategy turning a crank under the uncertain task conditions and a motion/force/impedance control scheme to execute the task strategy. Moreover, a task strategy with the estimation of the pivot position is addressed to realize the smoother crank turning even if the initial estimation error of the pivot position is considerably large. These validities are experimentally investigated by a 6 D.O.F industrial manipulator.
