The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM
Online ISSN : 2424-3116
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Estimation of Individual Contact Force when Two Contact Points Exist during Robotic Tool Use
Kyo KutsuzawaSho SakainoToshiaki Tsuji
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会議録・要旨集 認証あり

p. 46-47

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Some tools such as a compass or a lever contact at multiple points with environment. In the case of a robot using such tools, the individual contact force has to be estimated for dexterous control. This paper proposes a method for estimating individual contact force when two contact points exist. The validity of the method is confirmed by a simulation that a manipulator draws a circle with a compass.

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© 2015 一般社団法人 日本機械学会
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