Manabu Toguchi

Development of a gravity center position controlled manipulator with using a redundant degree of freedom

Abstract In this paper, we proposed a manipulator system with control of the horizontal gravity center position to decrease the torque to tumble. To add a redundant degree of freedom with a manipulator, it changes its configuration continuously with the steady position of the hand and the horizontal position of gravity center moves continuously too. To Choose the configuration that the horizontal gravity center position of the manipulator is located on the base of the manipulator, the torque to tumble the manipulator is decrease to zero We made a prototype of this manipulator and certified the availability of this manipulator.