Grasping Force Control in Consideration of Translational and Rotational Slippage of an Object by a Flexible Contact Sensor

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  • Saito Naoki
    Akita Prefectural University Faculty of Systems Science and Technology Department of Machine Intelligence and Systems Engineering
  • Satoh Toshiyuki
    Akita Prefectural University Faculty of Systems Science and Technology Department of Machine Intelligence and Systems Engineering
  • Okano Hideharu
    Akita Prefectural University Faculty of Systems Science and Technology Department of Machine Intelligence and Systems Engineering

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  • 柔軟接触センサによる並進/回転方向滑りを考慮した把持力の調整
  • ジュウナン セッショク センサ ニ ヨル ヘイシン カイテン ホウコウ スベリ オ コウリョ シタ ハジリョク ノ チョウセイ

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Abstract

This paper addresses the issue of translational and rotational slippage that occurs when a robot hand grasps an object. To grasp an object against each directional slippage is an important task. In this study, to deal with rotational slippage, a contact area between a flexible contact sensor which is mounted on the robot hand and the object is considered. A sufficient condition for grasping an object against translational/rotational slippage is derived on condition that no additional sensors, such as tactile sensors, are required.<br>An effectiveness of the condition is confirmed by a grasping experiment with the use of a translational gripper where the flexible contact sensor is mounted.

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