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Research on compound usage of touch,force and vision sensors to control a hand with multi-jointed fingers

触摸、力和视觉传感器复合使用控制多关节手指手的研究

基本信息

批准号：
62550172
负责人：
INABA Masayuki
金额：
$ 1.28万
依托单位：
The University of Tokyo
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (C)
财政年份：
1987
资助国家：
日本
起止时间：
1987 至 1988
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-62550172/
关键词：
Robot hand Manipulation Force senser Robot vision Force feedback 力センサ

项目摘要

When a robot hand manipulate an object dexterously, it is necessary to use several sensers of touch, force and vision. In this research, we have developed a robot hand with multi-jointed fingers and its control system and have done experiments of manipulation with it.The main results of this research are shown as follows.Construction of a robot-hand system with multi-jointed fingersWe developed three multi-jointed fingers with a compact 3-axis force-senser and assembled a robot hand with them. The robot hand has thirteen degrees of freedom and managed under a real-time operating system. The fingers could be controled in real-time according to the information of force sensers.Development of programs to process senser informationThe force information is filtered by a digital filtter in order to gain stability for detecting when the finger touches an object. The visual information is processed for object findeing and object tracking. The vision programed is developed to be applied for block manipulation.Experiments of block manipulationThe robot hand succeeded to stand a block and rotate it with two fingers. In the task of block manipulation, the vision subsystem recognizes the location of the block, the force senser verifies the presence of it. While the hand moves the block, the force senser monitors the force strength and the vision subsystem tracks the location of the block. Both of the sensers can also detect whether the manipulation task is failed.

机器人手灵巧地操纵物体时，需要用到触觉、力觉和视觉等多种传感器。本研究开发了一种多关节手指机器人手及其控制系统，并进行了多关节手指机器人手的操作实验，主要研究结果如下：多关节手指机器人手系统的构建我们开发了三个多关节手指，并装配了一个紧凑的三维力传感器，组装成机器人手。机器人手有13个自由度，并在实时操作系统下进行管理。根据力传感器提供的信息对手指进行实时控制。开发传感器信息处理程序对力信息进行数字滤波，以获得手指接触物体时的稳定性。视觉信息经过处理用于对象查找和对象跟踪。机器人手成功地实现了用两个手指支撑和旋转一个木块的动作。在方块操作任务中，视觉子系统识别方块的位置，力传感器验证方块的存在，当手移动方块时，力传感器监测力的大小，视觉子系统跟踪方块的位置。两个传感器还可以检测操作任务是否失败。