Placing Motion of an Object by a Robot Hand with a Flexible Sensor
Naoki Saito*, Toshiyuki Satoh*, Yoshinao Suzuki**,
and Hideharu Okano*
*Akita Prefectural University, 84-4 Tsuchiya Ebinokuchi, Yurihonjo, Akita 015-0055, Japan
**Futaba Industrial Co., Ltd., 1 Azaochaya, Hashime-cho, Okazaki-shi, Aichi 444-8558, Japan
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.
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