Dynamic Object Manipulation Considering Contact Condition of Robot With Tool

This study considered the dynamic object manipulation by a spatula fixed to a robot. An analysis on the principles of dynamic movement revealed that the main issue is to satisfy conditions expressed in terms of gravitational, frictional, and inertial forces. This paper clarifies the conditions for achieving dynamic movements and presents a unified algorithm for generating a variety of movements from planning trajectories that satisfy such conditions. The conditions of the dynamic movements are given in the acceleration dimension. The trajectory planned by the proposed method was given to a robot as command values, and a spatula was mounted to a robot arm with 6 degrees of freedom. The experimental results demonstrated that the proposed method based on such principles enables multiple dynamic movements in a unified manner.