抄録
This paper describes an experimental automatic manipulator whose mechanical hand approaches a target and grasps it without scanning movements. The essential part of the machine is a binocular sensory system which is placed in front of the hand and “sees” both the hand and a target. The system consists of a pair of television pickup cameras and a video-signal classifier. It makes a discrimination between the hand and the target, and compares the position of the one with that of the other. Using the comparison results a control unit controls the movements of the hand. Automatic target approach and grasping have been demonstrated clearly in some experiments where a 1.5×6×6cm3 wooden block is used as a target and placed in an arbitrary position on a 40×40cm2 table.
