抄録
This paper proposes a teaching system for multi-fingered robot hand using kinetic information of a manipulated object under rolling contact in order to achieve the desired movement of a manipulated object easily and accurately. According to the kinetic information of manipulated object which was obtained by haptic device, the teaching system sets the contact position and calculates the trajectory of each joint angle by inverse kinematics function. To set the contact position appropriately, the system considers constraint condition under twist rolling contact. This paper describes the results of experiment using the developed teaching system, and the future works to be improved are discussed.
