触覚センシング情報を用いた双腕ロボットハンドによる把持物体の回転操作(機械力学,計測,自動制御)

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This paper describes the methods and experiments of rolling an object among the right and the left hands of an industrial robot. Both hands are equipped with tactile sensors, which have functions of acquiring the tactile images and the forces from the sensing elements of it. The flexible handling should be made efficient use of tactile sensors, which use as generation of the reference signals in robot control system. For realizing the flexible handling of an object using the tactile sensings, it is introduced that an object is manipulated by rolling among the right and the left hands of robots. The experiment of rolling an object is carried out by control of dual robot hands based upon two posture parameters and the grasping forces measured from the tactile sensors. The square pillar and the sphere are used as objects.
社団法人日本機械学会の論文
2006-03-25