衝突を含むロボット・マニピュレータの安定制御 : 第2報, 2本の1自由度マニピュレータによる物体把持

抄録

In this paper, a methodology using the Lyapunov direct method is proposed to analyze the stability of a 2-single-DOF-manipulators system which is used to grasp an object freely moving along a straight line. This analysis involves the collision phenomenon at the time of the contact. The stability and response of the system are examined by parameter studies of numerical simulation. In our 1st report, we adopted a Herz-type model with energy loss parameter to express the impact force between the manipulator and the object. Using this model, we proved the stabilization effect of collision using a nonlinear Lyapunov's function. The effect is confirmed by the simulation. As a result, stable grasping of a free object is shown to be possible.