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.
-  T. Maeno et al., “Grip Force Control by Detecting the Internal Strain Distribution Inside the Elastic Finger Having Curved Surface,” Trans. of the Japan Society of Mechanical Engineers, Series C, Vol.64, No.620, pp. 142-149, 1998.
-  T. Maeno et al., “Control of Grasping Force by Estimating Stick/Slip Distribution at the Contact Interface of an Elastic Finger Having Curved surface,” J. of the Robotics Society of Japan, Vol.19, No.1, pp. 91-99, 2001.
-  A. Ikeda et al., “Grip Force Control of the Elastic Body based on Contact Surface Eccentricity During the Incipient Slip,” J. of the Robotics Society of Japan, Vol.23, No.3, pp. 337-343, 2005.
-  Y. Tada et al., “Anthropomorphic Soft Fingertip with Tactile Receptors in the Skin,” J. of the Robotics Society of Japan, Vol.23, No.4, pp. 482-487, 2005.
-  N. Saito et al., “Development of Four-Axis Contact Force Sensor with a Flexible Contact Part,” IEEJ Trans. of Sensors and Micromachines, Vol.125, No.1, pp. 7-14, 2005.
-  N. Saito et al., “Calculation of Deformation of a Flexible Contact Sensor and Estimation of Mechanical Impedance of an Object,” IEEJ Trans. of Electronics, Information and Systems, Vol.125, No.7, pp. 1126-1132, 2005.
-  K. Kitagaki and M. Uchiyama, “An Optimal Approach Velocity of Manipulators to External Environments,” J. of the Robotics Society of Japan, Vol.8, No.4, pp. 413-420, 1990.
-  K. Nagata et al., “Optimum Velocity Vector of Articulated Robot for Soft Bumping,” Trans. of the Society of Instrument and Control Engineers, Vol.26, No.4, pp. 435-442, 1990.
-  P. N. Akella and M. R. Cutkosky, “Contact Transition Control with Semiactive Fingertips,” IEEE Trans. on Robotics and Automation, Vol.11, No.6, pp. 859-867, 1995.
-  N. Nakazawa et al., “Characteristics of Impact Force in Placing Motion,” Trans. of the Japan Society of Mechanical Engineers, Series C, Vol.67, No.658, pp. 245-251, 2001.
-  N. Nakazawa et al., “Characteristics of Human Fingertips in Shearing Direction,” Trans. of the Japan Society of Mechanical Engineers, Series C, Vol.64, No.624, pp. 292-298, 1998.
Copyright© 2012 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.