Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
The external force adaptation leaving redundant degrees of freedom (DOFs) is one of the effective methods to achieve the remote robot's contact on a fixed target surface whose attitude cannot be accurately obtained, but it is difficult for an operator to know its feasibility in advance. In this report, we examined whether the manipulability at the initial contact allows to evaluate the feasibility of the contact adaptation using the redundant DOFs, in order to present the operator with the adaptable directions. The experimental results demonstrated that when the manipulability in the φ and θ directions was 1.2 and 1.5 or more, respectively, the adaptive motions were confirmed in each direction, and the manipulability allowed to present the feasibility of adaptation in advance.
