ロボットマニピュレーションにおける非接触な幾何学的拘束の効果をポテンシャルエネルギーに基づいて評価する手法

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  • Contact-less Geometric Constraints in Robotic Manipulation Assessed based on Potential Energy

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<p>This paper studies a measurement index that evaluates manipulation security attributed to applied forces, torques, and geometric constraints. In robotic manipulation, target objects are often constrained with force equilibrium as force closure. Otherwise, caging grasps with geometric confinement can be considered. Both strategies can practically contribute to secure manipulation, though only either index is often validated due to different dimensions. This paper proposes a homogeneous evaluation of the two assessments based on potential energy calculated with mechanical analysis. The target object has difficulty reaching an arbitrary point in the configuration space because of interferences by applied forces and obstacles. Assuming that the obstacles never move even when infinite forces are applied, the target object with infinite energy cannot reach the point beyond the obstacles. </p>

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