Establishment of Estimation method for Large-Sized Object Inertia Parameters By Using Human-Skill-Like Manipulation

在机器人稳定、准确地操纵物体的许多情况下，都需要知道物体的质量和质心。针对物体的重量或形状超过机器人手的抓握能力的情况，本研究于2001年提出了一种可以估计具有曲面和基平面的无抓握未知物体的质量和质心的技术。一条叫做“走向c.m.”的线路。矢量及其对应的直线，pass - cm。定义了包含质心的直线。用于估算通过cm。提出了机器人手指在垂直操作平面上缓慢、重复地平行移动物体的指尖操作方法。利用指尖的位置信息和指尖的受力信息，提出了一种估算传递截面的算法。线条都有描述。在此基础上，提出了一种通过估计几个不同方位的相交点来估计物体质量和质心的算法。行。最后，对所提出的方法进行了实验验证，并给出了实验结果。2002年，本研究提出了一种机器人推物体操作中物体惯性参数的估计方法。在推动操作时，由于物体的重力被其支撑面抵消，机器人无法感知物体上的重力变化信息。本研究考虑在物体加速度变化的情况下推动物体，然后通过机器人的手指来感知物体上的力的变化，这些力随物体加速度的变化而变化。利用力和位置信息，研究了物体质量、质心和转动惯量的估计算法。最后对该方法进行了实验验证，并给出了实验结果。

In many cases of manipulating an object stably and accurately by robot, it is required to known the mass and center of mass of the object. For the case when weight or shape of an object is over the grasp capacity of a robot hand, in 2001, this research proposes a technique that can estimate the mass and center of mass of a graspless unknown object, which has curved surfaces and a base plane. A line called Toward-C.M. Vector and its corresponding line, Passing-C.M. Line, which contains the center of mass, are defined. For estimating the passing-C.M. line, Tip Operation by robot finger, which tips the object slowly and repeatedly in a parallel motion with a vertical operation plane, is proposed. Using the fingertip position and force information measured from tip operations, an algorithm to estimate the passing-C.M. line are described. Then an algorithm to estimate the mass and center of mass of the object is given by estimating the intersect point of several orientation-different passing-C.M. lines. Lastly, experimental verification on the proposed approach is performed and its results are outlined.In 2002, this research proposes a method for estimating the object inertia parameters in object pushing operations by robot. On pushing operation, the information of the gravity change on an object cannot be sensed by robot since the object gravity is cancelled by its supporting surface. This research considers pushing an object with changing its acceleration, then sensing the force variations on the object, which are changing with the object acceleration, by robot fingers. With the force and position information, algorithms for estimating the mass, center of mass and inertia moment of the object are addressed. And experimental verification on the proposed approach is performed and its results are outlined.