| Budget Amount *help |
¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2019: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2018: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2017: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
|
|---|
| Outline of Final Research Achievements |
To resolve the excessive manipulation force caused by the uncertainty of the screw pitch in the valve opening/closing motion of a robot arm, we investigated the utilization of dynamic transitions in null space created by a Jacobian-transpose based task variable feedback control system. By ceasing the control of uncertain variables and allowing the robot state to be guided by geometric constraints, the arm posture dynamically transitions with the force received from the valve during operation and adapts to the screw progression. Experiments with a 7-joint robot arm incorporating this method showed that valve operation involving screw progression continued with two control target values for circular motion without information on the tip force and screw pitch.
|
