Evaluation of Roller-Sphere Forward Kinematics for Sphere Transportation Control Using a Sphere Motion Measurement System

Abstract

Due to the social background of declining birthrates and an aging society, object transport requires automation and the introduction of robots. This study focuses on sphere transport as a means of efficient object transport by robots. This paper uses a spherical motion measurement system to evaluate the forward kinematics of sphere transportation. The results show the validity of roller-sphere forward kinematics in three patterns of roller arrangement.