日本機械学会論文集
Online ISSN : 2187-9761
ISSN-L : 2187-9761
機械力学,計測,自動制御,ロボティクス,メカトロニクス
6本のワイヤを利用した3台の位置制御型マニピュレータによる大型物体の位置決めシステム
大隅 久荻坂 まりな押川 慶則関村 悠太福井 健人相山 康道
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ジャーナル フリー

2021 年 87 巻 895 号 p. 20-00143

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A new positioning method for large objects by cooperation of three position-controlled manipulators is proposed. To realize the cooperative positioning system by position-controlled manipulators, it is necessary to avoid excessive inner forces among manipulators caused by mutual positioning errors. To solve this problem, two wires with independent directions are installed between each manipulator tip and the positioned object. As a result, the object is suspended by six wires those directions are linearly independent of each other. Then, if the tensions of all wires are positive during the execution of the positioning tasks, the excessive inner forces don’t generate by positioning errors of the manipulator tips and sway motion of the object doesn’t occur against external forces in some extent. On the other hand, this system has 12 kinematical redundant degrees of freedom. Therefore, we propose a positioning control algorithm to keep all wire tensions positive and to avoid the concentration of tension on any one wire by utilizing kinematical redundancy. The effectiveness of the proposed method and the developed system are verified by a fundamental experiment and simulations.

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