著者

福井 類 勝代 雅行 森下 広 森 武俊 佐藤 知正

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.28, no.7, pp.841-852, 2010 (Released:2012-01-25)

参考文献数

32

被引用文献数

1 1

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This paper proposes a system configuration method to realize a robot system which can perform daily-use object storage and management service in a living space. In the method, compliant mechanisms are utilized proactively to overcome position/posture errors and deviations in measurement or control phases. To validate the proposed system configuration method, we developed a home-use container transfer robot that is installed with (1) robust container handling mechanisms implemented by crank shafts and (2) passive compliant mechanisms for horizontal and inclination misalignment. The robot was integrated with a container position measurement system to perform experiments. Experiments confirmed that a robust container transfer motion can be realized without complex feedback measurement and control processes. Several key design points are also described to leverage mechanical compliance.