The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2010
Session ID : 2A1-E19
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2A1-E19 Motion Estimation for Environment-Contact Task with Position Controlled Manipulator
Kazuki SATO, Yasumichi AIYAMA
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Keywords: environment contact, motion estmation, indeterminant motion
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Abstract
Forces between position controlled manipulator and environment is indeterminant. In this paper, based on the minimum work principle, we have proposed motion esitimation model with linear programming problem.
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© 2010 The Japan Society of Mechanical Engineers
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