Estimation of Mass and Center of Mass of Unknown Curved-Surface Object Using Passing-C.M. Lines
In many cases of manipulating an object stably and accurately by robot, it is required to know the mass and center of mass of the object. For the case when the weight or shape of an object is over the grasp capacity of a robot hand, this paper proposes a technique that can estimate the mass and center of mass of a graspless unknown object, which has curved surfaces and a base plane. A line called Passing-C.M. Line which contains the center of mass, are defined. For estimating the passing-C.M. line, Tip Operation by robot finger, which tips the object slowly and repeatedly in a parallel motion with a vertical operation plane, is proposed. Using the fingertip position and force information measured from tip operations, an algorithm to estimate the passing-C.M. line are described. Then an algorithm to estimate the mass and center of mass of the object is given by estimating the intersect point of several orientation-different passing-C.M. lines.
KeywordsContact Point Distance Vector Object Posture Base Frame Unknown Object
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