ワイヤを利用した3台のマニピュレータによる物体の協調位置決め

抄録

The authors have developed cooperative system of three manipulators that are position controlled. The problem with this system is that excessive internal forces occur due to position error. Therefore, we have used six wires to prevent excessive internal forces. Also, the system using six wires can hold the object rigidly against external forces of a certain size. However, when considering the use of this system for assembly and disassembly work, compliance is required against external forces. Thus, this paper discusses cooperative system using three wires and provides calculation method for positioning of the object.