動的感度解析に基づくロバスト投擲運動設計

－平面3リンクマニピュレータによる実験検証－

抄録

Throwing an object by a powered robot system is an effective way for object manipulation in long distance. The focus of the throwing is on the accuracy of the landing point with respect to model uncertainties or disturbances. So far, we have proposed a sensitivity analysis method of throwing with a feed-forward controlled manipulator, while feed-forward/back controlled one is considered in this paper. The dynamic sensitivity analysis method is developed based on the conventional method and its evaluation is executed by using a prototyped three-link manipulator. The effectiveness of the proposed method is evaluated and a robust throwing with low sensitivity is obtained that realizes small variance of the landing point.