直方体のハンドリングにおける制御レベルの基本動作解析

Abstract

Manipulation system for rectangular shaped object based on primitive motions is presented. Tasks involving contact with the environment require adjustment of control parameters for specific contact state for each application. In order to alleviate this problem, control programs for primitive motions have been implemented in the robot controller. This is based on an assumption that most tasks can be decomposed into a finite set of primitive motions, and that a task can be fulfilled by executing a sequence of primitive motions. In this paper, the object's shape is restricted to prism. The environment was also assumed to be composed of vertices, edges, and planes. First, all possible contact states were analyzed, and a control program for each contact state was written based on impedance control. Signal processing of the force sensor is presented. An experiment where a wooden block grabbed by a robot hand passed through a maze-like environment is presented. The system detected the contact state transition and chosed the appropriate primitive motion as it moved.