G150023 把持・操り動作における主成分分析を用いたアクチュエータの配置推定

抄録

Recently, motion control technology is more and more developed. The technology is used not only in industry but also in human society. Hereafter, in order to extend the range of work and kinds of motion, it is needed to think about what human motion is. Particularly, interaction between human and environment need to be considered. In order to consider the optimal alignment of actuators for human assist, estimation method of actuators alignment is needed. In this paper, an estimation method of actuators alignment for grasping/manipulating motion using principal component analysis is proposed. Concretely speaking, when alignment of slave-side actuators in bilateral system are not placed to face-to-face, an angle between grasped object and actuator is estimated from the point of performance to ideal grasping/manipulating function. Validity of the proposal is confirmed by two types of experiments. One is face-to-face case (φ = 0°), the other case is not face-to-face case (φ = 30°). Experimental results in this paper are compared with true values.