| Budget Amount *help |
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2015: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2014: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2013: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
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| Outline of Final Research Achievements |
When a robot manipulator grasps an object and manipulates it with contacting with environment like as insertion, sliding etc., to avoid excessive contact force, we introduce free-joint structure at the wrist part of the manipulator. In this research we have developed a method to analyze an influence of friction force to the manipulation by linear problem method, and we extend this method from 2D to 3D problem.
As another example of influence of friction force to manipulation tasks, we chose grasp positioning error problem. When a gripper grasps an object with initial pose error of the object, it may grasp the object with some pose error because of friction force between gripper and the object. We analyze influence of friction force to the pose error and develop a discrimination method if the task will be succeeded or not.
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