フレキシブルリンクマニピュレータによる押し動作に関する研究

抄録

In recent planetary exploration, sampling of rock samples and removal of obstacles are carried out by grasping operation of the exploring robot with a manipulator. In general, objects to be grasped by the manipulator should be small so that the manipulator can stiffly grasp and precisely move the objects. Furthermore, pushing motion is also expected as a method to move heavier objects which is difficult to be lifted by manipulator. For these reason, many studies on pushing motion that allow the manipulators to move the heavier objects have been conducted. Furthermore, the manipulators have become more flexible, and their weights have been reduced to save the load capacity and cut the launch cost of the rocket. As a result, the rigidity of the manipulator decreases and the flexibility of the manipulator may affect the operation, so it is not easy to push the manipulator with a flexible manipulator (flexible link manipulator). However, studies on pushing motion by a flexible-link manipulator has not been done sufficiently. Therefore, this paper extracts the problem of pushing motion by the flexible-link manipulator and propose a trajectory strategy to move the object to the target position by pushing motion of such a manipulator. Then, the control system considering friction are designed, and numerical analyses are done for the evaluation of the proposed method.