抄録
The purpose of this research is to develop a manipulator that can carry an object on a flat plate to the desired position dexterously and can throw the object upon the higher place. The manipulator consists of a robot arm with two links and a flat plate rotating as an end-effecter. The system is constrained in a vertical plane. The manipulation of "Wrist rotating motion" is used to make the object on the plate moved stably on the plate by making the plate angle perpendicular to the direction of the force acting on the object. The force can be measured by an acceleration sensor attached at the plate-rotating axis. The trajectory of the manipulator for throwing a rectangular parallelepiped object upon the higher place is designed. The desired trajectory and the control method are verified by experiments.
