3P2-S05 多指ハンド教示のための実時間操り軌道生成(ロボットハンドの機構と把持戦略(2))

Abstract

This paper proposes a teaching system for multi-fingered robot hands based on kinetic information of grasped objects. The goal of this system is to teach manipulation motions of multi-fingered robot hands intuitively and effectively. This paper proposes an algorithm of the trajectory generation of robot hands. An appropriate trajectory of robot hands is calculated according to the desired kinetic trajectory of a manipulated object under pure rolling contact constraints. In this paper, we show a revised algorithm of the trajectory generation and experimental results of the teaching system to verify the effectiveness of them. Also, future works to be improved are discussed.