Determination of Action Points in Tumbling Operation by a Robot

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  • ロボットによる転がし操作における力作用点の決定

Abstract

<p>Tumbling operation is useful to transport a large or heavy object. We develop twin arm robot for the purpose of tumbling operation on massive rock. In order to operate the object by the robot, it is necessary to determine the position of the action points. In this paper, a method of determining the action points is proposed. First, equations and constraints on tumbling force and moment are derived. Then, an objective function related to the force is set, and determination of the action points is solved as a nonlinear optimization problem. Then, we explain the composition of the constructed algorithm. Finally the usefulness of the algorithm is shown by a numerical example.</p>

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