1A1-I08 対象物の運動情報を入力とした多指ハンドの教示システムにおけるフィードバック制御(ロボットハンドの機構と把持戦略)  [in Japanese] 1A1-I08 Feedback control on teaching system for multi-fingered robot hands using kinetic information of manipulated object(Robot Hand Mechanism and Grasping Strategy)  [in Japanese]

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Abstract

This paper is about a teaching system for multi-fingered robot hands using kinetic information of a manipulated object with feedback control. The purpose of this system is to operate multi-fingered robot hands with high DOF intuitively and effectively. The system calculates the appropriate trajectory according to the kinetic information of the manipulated object under the twist rolling contact constraint. For more stable manipulation, visual and force feedback control using kinetic information of the real manipulated object is appended to this teaching system. This paper describes the method of feedback control and the future works are discussed.

Journal

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

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2011(0), _1A1-I08_1-_1A1-I08_3, 2011

    The Japan Society of Mechanical Engineers

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