著者

東森 充 内海 圭祐 大本 康隆 金子 真

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.74, no.743, pp.1825-1833, 2008-07-25

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This paper discusses a dynamic manipulation of an object on a plate attached at the tip of manipulator, where the basic concept is inspired by a handling mechanism of pizza master. Both the position and the orientation of object are dynamically controlled by the plate. The main driving force for manipulating the object is produced by the combination of inertial and frictional forces generated by one rotational and one translational motion of the plate. We first discuss how to make motions of object for three degrees of freedom on the plate. We then show that it is guaranteed to achieve an arbitrary set of desired position and orientation of object by the proposed manipulation scheme. Finally, we show a couple of experiments for confirming the basic idea by using a high-speed manipulator with an assistance of vision.