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This paper deals with identification of the contact conditions of a robot during tool use. This paper proposes a method for the identification of the contact conditions considering slide between the tool and the work object. The validity of the method is shown through simulation and experimental results.
Robotic tool use is a challenging issue, which can be a key for extending the ability of robots in human environment. This study deals with a technique for contact state recognition of robotic tool use. A contact model and a method to calculate the parameters of the model from the haptic information are proposed. Some kinetic information is estimated from the model parameters and utilized for the...
Most of existing robots in industry are specialized for a single work. This paper aims at developing a versatile robotic system with the ability to use many tools. The tools are classified into groups and the most part of the programs for the classified tools are unified. Experimental verification shows that the robot is able to handle multiple tools by the unified controller.
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