Mechanical assembly by a multi-fingered robotic hand with error recovery function

Author

Hasegawa, Tsutomu ; Matsuoka, Takeshi ; Honda, Kyuhei

Author_Institution

Graduate Sch. of Inf. Sci. & Electr. Eng., Kyushu Univ., Fukuoka, Japan

fYear

1999

fDate

1999

Firstpage

232

Lastpage

237

Abstract

Describes a dexterous and robust manipulation system for mechanical assembly with a multifingered hand. The system is composed of a grasp planner and a real-time execution subsystem. The planner plans an initial grasp from which a required continuous motion of the object is achieved while keeping rolling contact at the fingertips. Task error detection and recovery strategies have been developed based on the task context. The system architecture and experiment results are shown

Keywords

assembling; dexterous manipulators; error correction; error detection; force control; force sensors; image sensors; path planning; velocity control; continuous motion; dexterous robust manipulation system; error recovery function; grasp planner; mechanical assembly; multi-fingered robotic hand; real-time execution subsystem; rolling contact; Assembly systems; Error correction; Fingers; Information science; Motion control; Robot kinematics; Robotic assembly; Robustness; Servomechanisms; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Assembly and Task Planning, 1999. (ISATP '99) Proceedings of the 1999 IEEE International Symposium on

Conference_Location

Porto

Print_ISBN

0-7803-5704-3

Type

conf

DOI

10.1109/ISATP.1999.782964

Filename

782964