Placing Motion of an Object by a Robot Hand with a Flexible Sensor-Reference-Cited by-同舟云学术

Placing Motion of an Object by a Robot Hand with a Flexible Sensor

Published:2012-02-20 Issue:1 Volume:24 Page:28-36
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Saito Naoki, ,Satoh Toshiyuki,Suzuki Yoshinao,Okano Hideharu,

Abstract

We examine a placing motion of a grasped object by a robot hand equipped with a flexible sensor on the finger. The aim of this study is to realize a quick placing motion with a small impulse force between the object and the floor. To derive a dynamic model of the motion, we consider the deformation of the flexible sensor occurring when the hand grasps the object. The dynamic model represents the relation between the impulse force and an approaching trajectory of the robot hand to the floor. From this model, we can obtain the trajectory of the hand that ensures that the impact force is less than the object’s mass. The validity of the model and the effect of the sensor’s flexibility are examined through simulation. We then confirm experimentally that the robot hand puts down the object without an excessive impact force using the obtained trajectory.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

Reference11 articles.

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