Virtual Teaching Based on Hand Manipulability for Multi-Fingered Robots
نویسندگان
چکیده
A virtual robot teaching that consists of human demonstration and motion-intention analysis in a virtual reality environment is an advanced technology of automatic programming for multi-fingered robots. As the type of virtual hand model displayed on-screen, a human-hand model is better than a robot-hand model in terms of teaching time and a stable manipulation of virtual object. However it may occurs that robot cannot grasp an object at a teaching position and orientation of the robot hand because a geometrical size and motional function of the robot hand is not same as that of the human hand. To solve this problem, we propose a virtual teaching based on hand manipulability, in which a position and orientation of the robot hand is determined so as to maximize a manipulability of the robot hand on the condition that the robot grasps the object at the teaching contact points on the object. Experimental results of a pick-and-place task are shown to demonstrate the effectiveness of the proposed method. Keyword: Robot hand, robot teaching, virtual reality, manipulability, programming, multi-fingers
منابع مشابه
Virtual Robot Teaching for Humanoid Both-Hands Robots Using Multi-Fingered Haptic Interface
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تاریخ انتشار 2001