高速ロボットハンドシステムの人間機械協調動作への応用

Abstract

We demonstrated a high-speed human-robot cooperation task using a high-speed robot hand system consisting of a high-speed vision system, an image processing PC, a high-speed robot hand, a high-speed tactile sensor (only for measurement) and a real-time controller. In particular, our goal was to achieve a concrete task in which a board grasped by both a human subject and a robot hand is always kept horizontal by controlling the robot hand based on high-speed visual feedback using the vision system. We propose a basic strategy for appropriately achieving the task and discuss an image processing procedure for detecting the state of the board (position and angle). Also, we describe the inverse kinematics of the robot hand so as to keep the board horizontal, and we set limitations for the robot hand joint angles for avoiding an error action due to human error. Finally, we show experimental results for the human-robot cooperation task achieved using the high-speed robot system and our proposed method, and we compare the experimental results between low frame rate and high frame rate in terms of response time and reaction force detected by a high-speed tactile sensor.