Intuitive and direct teaching system of multi-fingered hand-arm robot for grasping task
- Resource Type
- Conference
- Authors
- Zhou, Dongbo; Aiyama, Yasumichi
- Source
- 2010 IEEE/SICE International Symposium on System Integration System Integration (SII), 2010 IEEE/SICE International Symposium on. :305-310 Dec, 2010
- Subject
- Robotics and Control Systems
Signal Processing and Analysis
Power, Energy and Industry Applications
General Topics for Engineers
Computing and Processing
Communication, Networking and Broadcast Technologies
Education
Manipulators
Joints
Force
Wrist
Grasping
- Language
This paper presents an activity teaching and playback system for multi-fingered hand-arm robot. Activity of hand is taught by dataglove that been fixed on the manipulator, motion of manipulator is decided by operator's hand that wears dataglove, force is determined by external minitype sensors that mounted on operator's finger-tips. Direct teaching is utilized therefore teaching parameters are determined by operator's intuition. Motion of manipulator and hand can be taught simultaneously. The system is simple and easily being used. In process of playback, a special force playback formula is proposed as the some inaccuracy of dataglove exists. This system is being expected to be applied for grasping tasks.