Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : March 07, 2022 - March 08, 2022
In this study, a robot hand control system for picking robot has been developed. To pick up various shaped objects rapidly, two different grasping mode (suction or pinching) for each object could be chosen in this hand. In this system, control functions have been distributed between robot arm and robot hand. For changing grasping mode, mutual actions between different grasping modes were defined and integrated with ROS system. With this control system, fast and smooth interworking method was proposed. In this method robot arm controller and robot hand controller are connected with digital I/O communication directly. When robot arm reaches target position, arm controller commands hand controller to start grasping. On the other hand, when robot hand finishes grasping, hand controller commands arm controller to start lifting arm up. The experimental results proved that the delay for interworking between arm and hand action was decreased with this method. In addition, dropping detection algorithm in pinching mode with different pinching force was proposed. With this algorithm, the picking robot could detect dropping and retry to grasp with another grasping mode when it dropped objects.
