Supporting Reaching Movements of Robotic Hands Subject to Communication Delay by Displaying End Effector Position Using Three Orthogonal Rays

Access this Article

Search this Article

Author(s)

Abstract

<p>In this paper, we propose an operation support system, which shows the spatial relation between a robotic hand and an object, to overcome reduced usability due to communication delay. A communication delay of four seconds occurs during remote operation between the earth and the moon. Previous studies have used a method that feeds back the predicted position of a robotic hand after the communication delay occurs. However, this does not allow an accurate reaching motion necessary for grasping. Therefore, we try to show the spatial relation between a robotic hand and an object using three orthogonal rays, where each is annotated with 1 cm increments. Based on the results of our experiments, the grasping success rate of the proposed method increases by three times. As a result, the proposed method is effective in making accurate reaching motions for grasping in the visual-servoing remote control between the earth and the moon.</p>

Journal

  • Journal of Robotics and Mechatronics

    Journal of Robotics and Mechatronics 29(5), 819-828, 2017

    Fuji Technology Press Ltd.

Codes

  • NII Article ID (NAID)
    130007519812
  • NII NACSIS-CAT ID (NCID)
    AA10809998
  • Text Lang
    ENG
  • ISSN
    0915-3942
  • NDL Article ID
    028575822
  • NDL Call No.
    Z54-G550
  • Data Source
    NDL  J-STAGE 
Page Top