把握形エンドエフェクタによる移動物体の捕捉および放出 : 第1報, 緩衝機構および制御則の提案

This paper proposes a simple shock absorbing mechanism and stable capturing control law which makes no impulsive force responses in capture of a moving object. In order to reduce equivalent values of inertial force and damping force at colliding point of end effector, singular point of mechanism is utilized by stretching a wire between dual fingers. The passive shock absorbing performance is clarified by making comparison between the proposed mechanism and buffer materials. A desired active force which realizes stable positioning object at command position is calculated from estimated kinetic energy of the object. By inputting a desired value of tension transformed from the desired force to tension feedback control law, stable position control of the object is performed. On the other hand, for the sake of realizing accurate ejection velocity, a desired value of velocity control law is calculated from command velocity using a first lag system filter to reduce acceleration of the object at command velocity.