JRM Vol.29 No.5 pp. 819-828
doi: 10.20965/jrm.2017.p0819


Supporting Reaching Movements of Robotic Hands Subject to Communication Delay by Displaying End Effector Position Using Three Orthogonal Rays

Akihito Chinen and Kiyoshi Hoshino

University of Tsukuba
1-1-1 Tennodai, Tsukuba 305-8573, Japan

March 21, 2017
August 27, 2017
October 20, 2017
communication delay between the earth and the moon, displaying end effector position, three orthogonal rays, visual-servoing remote control, robotic hand

In this paper, we propose an operation support system, which shows the spatial relation between a robotic hand and an object, to overcome reduced usability due to communication delay. A communication delay of four seconds occurs during remote operation between the earth and the moon. Previous studies have used a method that feeds back the predicted position of a robotic hand after the communication delay occurs. However, this does not allow an accurate reaching motion necessary for grasping. Therefore, we try to show the spatial relation between a robotic hand and an object using three orthogonal rays, where each is annotated with 1 cm increments. Based on the results of our experiments, the grasping success rate of the proposed method increases by three times. As a result, the proposed method is effective in making accurate reaching motions for grasping in the visual-servoing remote control between the earth and the moon.

Supporting robotic movements subject to communication delay

Supporting robotic movements subject to communication delay

Cite this article as:
A. Chinen and K. Hoshino, “Supporting Reaching Movements of Robotic Hands Subject to Communication Delay by Displaying End Effector Position Using Three Orthogonal Rays,” J. Robot. Mechatron., Vol.29 No.5, pp. 819-828, 2017.
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