冗長自由度を有する異構造遠隔ロボットの手先のならい動作における可操作度を用いた順応性能の評価

抄録

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.