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

We discuss 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 the impulse force between the object and the floor small. To derive a dynamic model of the motion, we consider the deformatio...

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Bibliographic Details
Published inTransactions of the Japan Society of Mechanical Engineers Series C Vol. 73; no. 725; pp. 206 - 213
Main Authors SAITO, Naoki, SUZUKI, Yoshinao, SATOH, Toshiyuki, OKANO, Hideharu
Format Journal Article
LanguageJapanese
Published The Japan Society of Mechanical Engineers 2007
Subjects
Approach Trajectory
Flexible Structure
Placing Motion
Sensor
Shock
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ISSN0387-5024
1884-8354
DOI10.1299/kikaic.73.206

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Summary:We discuss 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 the impulse force between the object and the floor small. To derive a dynamic model of the motion, we consider the deformation of the flexible sensor occuring when the hand grasps the object. The dynamic model represents the relationship 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 which 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 experimentally confirm that the robot hand puts down the object without an excessive impact force by using the obtained trajectory.
ISSN:0387-5024
1884-8354
DOI:10.1299/kikaic.73.206