2A1-F06 双腕五指ロボットハンド制御システムの開発 : 作業記述システムの改善とシミュレータの導入

概要

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We developed a general Dual Five-Fingered Robotic Hand Arm system and a simple robot task programming system named SAEN preparing for the manpower shortage on the nursing side and the welfare side in the future. SAEN did not have enough abilities for advanced works because it was difficult for SAEN to describe error avoidances and synchronization of plural threads. So, in this research, we introduced an exception handling and the synchronization mechanism as solutions of those problems. And, we developed SAEN simulator by using ODE (Open Dynamics Engine) for debugging of SAEN program. It was shown that both of our new features of SAEN work fine and improve the effectiveness of SAEN programming through of simulation experiments and investigation of SAEN program source codes.
一般社団法人日本機械学会の論文