Identification of Contact Conditions from Contact Force and Moment - Experimental Verification in Effective Sensing Strategy

Autor:	Takayoshi Yamada, Nobuharu Mimura, Tetsuya Mouri, Akira Tanaka, Yasuyuki Funahashi
Rok vydání:	2009
Předmět:	Moment (mathematics) Identification (information) General Computer Science Computer science Control theory Robot Control engineering Electrical and Electronic Engineering Contact force
Zdroj:	Journal of Robotics and Mechatronics. 21:236-244
ISSN:	1883-8049 0915-3942
DOI:	10.20965/jrm.2009.p0236
Popis:	This paper discusses an effective sensing strategy for identification of contact conditions by using experiments. The contact conditions include contact position, contact force, contact type, direction of contact normal, and direction of contact line. To distinguish contact type more quickly and accurately, we must raise the degree of separation of large and small eigenvalues of a covariance matrix for estimating contact moment. Firstly, several sensing strategies are investigated through experiments. The difference of these strategies is the origin and direction of movement because the contact moment, which expresses the characteristic of contact type, is generated at a contact frame. Secondly, a more effective sensing movement is suggested from experimental results. Finally, it is pointed out that these strategies are related to sensing movement by a human being.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::c723d97e3e03d1b217fc12498e23fcd1 https://doi.org/10.20965/jrm.2009.p0236 Zobrazit plný text záznamu