非把持双腕ロボットによる 2 リンク物体の姿勢維持制御に関する研究

抄録

Recently, more researchers have focused on nursing-care assistant robot and placed their hope on it to solve the shortage problem of the caregivers in hospital or nursing home. In this paper, in order to maintain the stable posture of two-link object regarded as a care receiver by non-prehensile two-cooperative-arm robot, a method to obtain stable region for robot arm motion is proposed. In details, firstly a mathematical model of the two-link object is built. By assuming the actual nursing care site, in this research, the model is considered as static problem. Secondly, considering the static friction and normal force occurred at the contact point between the link and the arm of the robot, and the stability conditions of twolink are created. When frictional force occurs between the caregiver and the care receiver, it gives pain to the care receiver, so the static frictional force is considered to be nearly zero and the distance from joint position to contact point of link and arm was kept considering the mental condition of the care receiver. According to the above stability condition, simulation is done to obtain the stable region which is related to the angles of two links for robot arm motion by using Matlab. Finally, an experiment is done to demonstrate the effectiveness of the proposed method.