A Study on Reducing the degree-of-freedom of a Mobile Manipulator Mounted on an Omni-Directional Mobile Base

全向移动底座上移动机械手降低自由度的研究

• 批准号: 08650305
• 负责人: NAKANO Eini
• 金额: $ 1.41万
• 依托单位: Tohoku University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1996
• 资助国家: 日本
• 起止时间: 1996 至 1997
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08650305/
• 关键词: Mobile Manipulator; Omni-Direction; Open and Close a Door; Passive Joint; Kinematics; Wheeled Mobile Robot; Indoor Work; Messenger Robot

(1) The possibility of the open-close motion of a door and its verification The strategy which was examined in this research is as follows : After the grasping motion on the knob of the door by the robot hand, one makes the wrist and base joints free and the others lock. Then the robot arm seems to have a rigid link with two free joints attached at both end points. After that, all the system which includes the wall, door, robot arm and the mobile base are taken as a three-link system. If the terminal point of the three-link system can move freely, the door will be able to move without any internal forces. We verified the idea through several computer simulations and confirmed by experiments using a robot arm mounted on an omni-directional vehicle developed by the investigators.(2) An investigation about the path of the mobile base We made an investigation into the path where the mobile base should take to achieve the above strategy. The path of the mobile base is subject to the different constraints, e.g.mechanical, geometrical and kinematical. These constraints yields the relation of forces between the load and the base, and determines the location between the obstacles and the mobile base. The latter is derive from the mobile base being governed by non-holonomic constraints. A path which satisfies the above constraints should be generated in real-time, based on several sensors information. To verify this, we assumed three circumstances without losing the generality. We examined by placing one obstacle at the door's left side and one behind it, then one is placed on the right side and one on the left side, and finally one behind the door and one on the right side (See Figure below). The results show that the required paths can be obtained under the specified circumstances.

(1)门的开关运动的可能性及其验证本研究中所研究的策略如下：机器人手在门的把手上抓取运动之后，其中一个使腕关节和基部关节自由，而其他关节锁定。然后，机器人手臂似乎有一个刚性链接，两个自由关节连接在两端点。然后，将整个系统，包括墙、门、机械臂和移动的底座，看作一个三连杆系统。如果三连杆系统的终点可以自由移动，则门将能够在没有任何内力的情况下移动。我们通过几次计算机模拟验证了这一想法，并通过使用安装在研究人员开发的全方位车辆上的机器人手臂进行实验来证实。(2)移动的基地的路径研究我们对移动的基地实现上述战略所应采取的路径进行了研究。移动的基座的路径受到不同的约束，例如机械的、几何的和运动学的约束。这些约束条件给出了载荷与基座之间的力的关系，并确定了障碍物与移动的基座之间的位置。后者是从移动的基地被非完整约束。一条满足上述约束条件的路径应该基于多个传感器信息实时生成。为了验证这一点，我们假设了三种情况，而不失一般性。我们通过在门的左侧放置一个障碍物，在门的后面放置一个障碍物，然后在右侧放置一个障碍物，在左侧放置一个障碍物，最后在门的后面放置一个障碍物，在右侧放置一个障碍物（见下图）。结果表明，在指定的情况下，可以获得所需的路径。

项目成果

高橋 隆行、中野 栄二、et al.: "メッセンジャロボットによる部屋間移動の実現" ロボティクス・メカトロニクス講演会'96. 471-476 (1996)

Takayuki Takahashi、Eiji Nakano 等人：“使用信使机器人实现房间间运动”机器人和机电一体化会议 96 471-476 (1996)。

T.Takahashi, E.Nakano and et al.: ""Door to Door Motion of the Messenger Robot"" Proc.of JSME,the Annual Conference on Robotics and Mechatronics. no.B. 471-472 (1996)

T.Takahashi、E.Nakano 等人：““送信机器人的门到门运动””Proc.of JSME，机器人与机电一体化年会。

K.Takayama, Y.Mori, T.Takahashi and E.Nakano: ""On Motion Synthesis of a Messenger Robot"" Proc.of JSME,the Annual Conference on Robotics and Mechatronics. no.B. 473-476 (1996)

K.Takayama、Y.Mori、T.Takahashi 和 E.Nakano：““信使机器人的运动合成””Proc.of JSME，机器人与机电一体化年会。

佐々木, 高橋, 中野: "受動関節を有する移動マニピュレータによるドア開け手法の対向2輪車への適用" 第15回日本ロボット学会学術講演会予稿集. 3. 845-846 (1997)

Sasaki、Takahashi、Nakano：“使用具有被动关节的移动机械手对迎面而来的两轮车辆的开门方法的应用”日本机器人学会第15届学术会议论文集3. 845-846（1997）。

高橋 隆行,中野 栄二,et al.: "メッセンジャロボットによる部屋間移動の実現" ロボティクス・メカトロニクス講演会'96. 471-472 (1996)

Takayuki Takahashi、Eiji Nakano 等人：“使用信使机器人实现房间间运动”机器人和机电一体化会议 96 471-472 (1996)。