Manipulation of a Sphere Through Rolling.
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- Mizuno Shintaro
- NTT
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- Sampei Mitsuji
- Graduate School of Information Science and Technology, Tokyo Institute of Technology
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- Koga Masanobu
- Graduate School of Information Science and Technology, Tokyo Institute of Technology
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- Ishikawa Masato
- Graduate School of Information Science and Technology, Tokyo Institute of Technology
Bibliographic Information
- Other Title
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- 転がりを用いた球体の姿勢制御
- コロガリ オ モチイタ キュウタイ ノ シセイ セイギョ
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Abstract
In this paper, we consider dexterous manipulation through rolling motion. This problem is to steer an object by robot fingers using rolling motion and achieve the desired configuration inside the hand. The kinematic constraint of rolling is nonholonomic constraint, and it is known that designing a controller or path planning for such system is difficult. We consider a simple model of this problem which is a sphere held between two parallel plates and propose a method to design a feedback controller to achieve the desired orientation of the sphere. First step is to apply state and input transformation to the system and transform it into the form called 'the time-state control form'. Then by approximately linearizing it, we design a feedback controller using ordinary linear control theory. One state appeared to be uncontrollable, but by taking new coordinate system, we could make all the states to the desired point. Through numerical simulation, we will show that it is possible to manipulate a sphere to the desired configuration using this method.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 16 (1), 118-123, 1998
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390282679703612160
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- NII Article ID
- 10011652631
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 4379901
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed