Developement of an Automatic Handling System to a Moving Object

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  • 移動物体把持システムの開発
  • イドウブツタイ ハジ システム ノ カイハツ

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Abstract

It is a challenging robotic task to directly grasp a moving object with various types of shape. Previously some researchers have addressed robotic technologies relating to shape recognition by vision sensing and control of some dexterous hands. However, there are few reports to succeed in realizing the task in an actual system because it needs an enormous computation to simultaneously conduct some necessary subtasks to detect the state of the object, generate a suitable trajectory of the manipulator and control to stably grasp it. In this paper we introduce an new automatic handling system for a moving object using a visual servoing technique and a hand with three fingers which can detect contact forces and ranges to the object. Here some experimental results are presented.

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