When making a robot perform tasks such as deburring, polishing, and assembling that are constrained by an object or environment, it is necessary to take into consideration not only the position and orientation of the robot hand but also the interaction force generated with the environment. Robot motion control technology in such a constrained space is generally called robot force control, and has been studied for a long time. However, the conventional force control method is mainly a formulation that gives desirable compliance to the hands of serial-type robot manipulators. In this study, we propose a general-purpose force control method that can give desirable compliance to any point of a mechanical system having an arbitrary topology by using multibody dynamics.

In recent years, with the development of sensors that are compatible with mobile networks, there has been a lot of research on building sensor networks. In order to realize these applications, various elements and technologies are required. Although many studies have focused on sensor placement and movement, the problem of constructing a robust and flexible network remains. In this paper, we propose a method for constructing self-organizing networks through communication-based interaction for the purpose of managing grazing cattle rearing. Specifically, the method uses only local communication, and its effectiveness against sensor movement and disappearance is verified by simulation.