SEARCH
MENU

History of Robotics Research and Development of Japan1979ManipulationObject-Handling System for Manual Industry

Tokuji OkadaElectrotechinical Laboratory
An object-handling system for manual industry is described. This system is designed to have a compact structure and to accomplish multiple prehension and flexible motion for manual tasks. The system has three fingers which have structures similar to those of a human. Namely, these fingers are composed of three, four, and four joints, respectively, and can perform not only such simple motions as adduction and abduction. The kinematics of the system is discussed in a rectangular coordinate system. The general solution for the finger joint is obtained by solving a fourth-degree equation. The control mode of each finger joint is suitably changed between position and torque control, and each joint is controlled by a hardware servo system. Cooperative motions among the fingers are easily realized by means of the hardware servo system. In an experiment of swing motion, cooperative motion based on a force control is accomplished between the right and left fingers without dropping the object. Bar turning and sphere turning are accomplished smoothly by a computer control in which control signals for finger joints are generated by interpolating a sequence of set points that has been stored in the computer in the teaching process.
写真1
Photo 1
 
写真2
Photo 2
 
写真3
Photo 3
 
写真4
Photo 4
 
写真5
Photo 5
 
写真6
Photo 6
 
写真7
Photo 7
 

Movies

photo
Video

Correspondence papers

Tokuji Okada：Object-Handling System for Manual Industry

IEEE Trans. on SMC, Vol.9, no.2, pp.78-89, 1979.
Note: This paper may not be sold, recopied, or redistributed and is for personal use only. Any recopying, redistribution or resale of this paper is prohibited without a license from the IEEE (rights holder) to do so.

Related papers

[1] T.Okada and S.Tsuchiya: Object Recognition by Grasping(PDF,2.55MB), J. of Pattern Recognition, Vol.9, no.3, pp.111-119, 1977.

[2] 岡田：指の運動と手作業の分析，バイオメカニズム,３巻，バイオメカニズム学会編，東京大学出版会，pp.133-144, 1975.

[3] 岡田：ワイヤを用いた人工指の力制御，計測自動制御学会論文集，Vol.14, no.2, pp.155-162, 1978.

[4] 岡田：操作性に富む指構造を有するマニピュレータの計算機制御，計測自動制御学会論文集，Vol.16, no.1, pp.98-104, 1980.

[5] 岡田：細密な物体操作のための指運動の解析，計測自動制御学会論文集，Vol.16, no.4, pp.597-602, 1980.

[6] T.Okada：Computer Control of Multijointed Finger System for Precise Object-Handling, IEEE Trans. on SMC, Vol.12, no.3, pp.289-299, 1982.

[7] 岡田：指動作の解析結果に基づいた指の協調制御，バイオメカニズム，６巻，pp.205-213, 1982.

[8] T.OKada: Development of an Optical Distance Sensor, J. of Robotics Research, Vol.1, no.4, pp.3-14, 1983.

Related Article

記事はありません。