小型・低摩擦アクチュエータ“MagLinkage II”を用いた外界センサレスでのカードの高速把持

―第2報：指先軌道の教示と2指の動作タイミング補正―

抄録

In this study, we propose a high-speed grasping strategy for picking up a single sheet object placed from multiple sheets. The robot hand is teleoperated by a data glove to generate the fingertip trajectory for the pickup motion. At this point, it is difficult to grasp a single sheet with only the fingertip trajectory, and it is also difficult to operate at high speed. Therefore, the next step is to adjust the motion timing between the two fingers of the robot hand, and to convert the trajectory to one that is capable of grasping a single card without fail, and also capable of high-speed motion. From the experimental results, we confirmed that the proposed grasping strategy can successfully pick up only one sheet object with high reliability in various kinds of materials and thicknesses.