視覚と力覚の提示および接触点位置の推定を伴う遠隔操作による組立作業の研究

抄録

It is important to develop a robot which performs an assembly work in a hazardous environment where human cannot enter. In this paper, we develop a teleoperation robot which performs assembly task and introduce a master slave system. This robot consists of the hand part and the arm part. The hand part uses a 4-finger 12-DOF hand, and a slave hand is operated by using a master hand, whose structure is the same to the slave hand. The robot arm is operated by using a joystick game pad. A bilateral control which presents force and visual information to an operator is used at the hand part and a unilateral control is used at the arm part. By using this robot, grasping and turning a bolt are performed. Moreover, the position of the contact point on each finger is estimated.