ソフトアクチュエーションを適用したマニピュレータの運動特性-高さと力の直接センシングを要しない搬送物体の積上げ-

摘要

A contact positioning scheme on object piling up task without direct height and force sensingunder soft actuation is described. An outline of the soft actuation and details of the positioning strategy ispresented. Performance of the proposed scheme is demonstrated experimentally with a 3-DoF manipulatorand is discussed. The soft actuation is a driving method for stepping motors and has inherent passive softnessagainst restrictions at load ends. Application of the soft actuation to tasks such as contact positioninghas advantages with respect to that of conventional servo motor drives.