Proceedings of the Japan Joint Automatic Control Conference
THE 53RD JAPAN JOINT AUTOMATIC CONTROL CONFERENCE
Session ID : 511
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Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 50 Societies and Institutes

Robot Interaction 1
Development of master-slave teaching in consideration of hand structure for hand/arm robot
*Daisuke Maemoto, Futoshi Kobayashi, Fumio Kojima, Hiroyuki Nakamoto, Tadashi Maeda, Nobuaki Imamura, Kazuhiro Sasabe, Hidenori Shirasawa
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Keywords: Mult Fingered Robot Hand, Task Teaching, Master-Slave
CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract
The hand/arm robot requires a lot of time to teach motion because it has a lot of degrees of freedom. The master-slave teaching is useful for the teaching of such a robot. However, there is a difference in the mechanism of human's hand and robot hand , it makes trouble in teaching. Then, we develop the master-slave teaching system that considers the difference of the structure of them.
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© 2010 JSME
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