Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
This paper describes planning a high acceleration trajectory under the constraints of a contact force. There are some cases of holding an object with a weak gripping force in order not to hurt the conveyed object. In this case, when the contact force exceeds the limits and the conveyed object may drop. It is important to model contact force and to plan trajectory under constraints of the contact force. We propose a model of contact force and algorithm to search a trajectory that is in the minimal time and is under the constraints of the const force. We demonstrate high acceleration transfer using a manipulator.
