抄録
This paper presents a method of calculating the interaction forces between the objects in model world. In our previous research, we discussed the interaction forces between a point object and its polyhedral environment, and confirmed its effects by constructing an experimental simulator of manipulation. However, to apply this system to the simulations of various assembling tasks, we have to deal with the objects with volume. Therefore, we extend the previous algorithm to general three-dimensional model by introducing the configuration space modeling. Then, the interaction forces are modeled as the reaction forces at the surface of the configuration obstacles. We applied this algorithm to a planar task (two transitional degrees of freedom and one rotational degree of freedom motion) and developed a simulator of manipulation. We confirmed the effectiveness of this system through experiments.
