2A2-C19 CoPセンサを用いたロボットハンドによる紙の滑り制御

概要

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In this paper, we focus on control of slip of paper. The goal is the position control of a paper by recognizing slip information. For this purpose, we use high-speed multifingered hand with CoY (center of pressure) sensor. CoP sensor can output the center of pressure at contact position, and it can also output the vibration information caused by slip. By analyzing the information with Wavelet transform, the hand is controlled so that the paper is set to the desired position. The results of the experiment are shown.
一般社団法人日本機械学会の論文