OS1201 災害対応用可変剛性マニピュレータによる接触センシングのための運動計画法

抄録

In this paper, a motion planning scheme of a variable stiffness manipulator able to vary stiffness of shoulder joint by changing effective length of leaf spring which has been designed and built to perform a stability sensing of robot's surrounding objects with unpredictable mechanical properties by touching them, was proposed. An analysis scheme to calculate an external force exerted on end-effector by using measured angular displacement and given stiffness while subtracting gravitational force is firstly explained. Subsequently, a motion planning scheme to determine how to configure the manipulator is proposed on purpose to widen dynamic range of stiffness by changing the length of a moment arm between the end-effector and the joint with variable stiffness mechanism. The scheme utilizes this principle to selectively achieve high measurement sensitivity and large output force. Capability of a prototype robot to achieve wide range stiffness and effectiveness of the scheme are experimentally demonstrated.