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

Paper:

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

Received:
March 21, 2017
Accepted:
August 27, 2017
Published:
October 20, 2017
Keywords:
communication delay between the earth and the moon, displaying end effector position, three orthogonal rays, visual-servoing remote control, robotic hand
Abstract
Supporting Reaching Movements of Robotic Hands Subject to Communication Delay by Displaying End Effector Position Using Three Orthogonal Rays

Supporting robotic movements subject to communication delay

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.

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Last updated on Dec. 12, 2017