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  [in Japanese] 2A2-C19 Paper Slip Control with Robot Hand and CoP Sensor  [in Japanese]

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Abstract

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.

Journal

  • The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010(0), _2A2-C19_1-_2A2-C19_4, 2010

    The Japan Society of Mechanical Engineers

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