2A1-K01 高いリーチング精度を有するシューティングマニピュレーションシステム(フレキシブルロボット・メカニズム)

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  • 2A1-K01 Shooting Manipulation System with High Reaching Accuracy(Flexible Robot/Mechanism and its Control)

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In this paper, we propose a shooting manipulation system with high reaching accuracy for manipulating a distant object for an instant. The proposed system mechanistically acts on a remote target by constraining an end-effector catapulted by an impulsive air flow through a flexible string connected with an elastic cantilever. Experimental results shows that the proposed shooting manipulation system has excellent basic performances such as high motion straightness of a reaching path, quickness in a turning motion, and high reaching accuracy in spite of its simplicity. Furthermore, we show that, by making full use of the basic performances of the proposed system, it is possible to realize quick capturing of a falling object 0.7[m] away with a high success rate of 92 percent.

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