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This paper presents a simple and compact universal two-fingered hand with soft finger-tips with jamming effect. To grasp several kinds of object, high-DoF fingered hand, multi-gripper device etc. has been developed. We adopt jamming effect device for a finger-tip to fit various object shape. We develop a two-fingered hand with jamming effect device and test it to compare with rigid finger-tip hand.
This paper presents a new technique for simple, highly accurate calibration of relative position between a robot arm and a target work. This technique can shorten calibration time and reduce production cost. In this study, we adopted point-to-face touching for simple, highly accurate calibration. Point-to-face touching means to touch work surface with one point of an arm tip tool. Robot arms can get...
This work addresses collision detection between n-robot industrial manipulators which are controlled using point-to-point commands in on-line mode. The robots are sharing the same workspace and have no prior knowledge of the commands which will be sent after start up the system. We have proposed an advanced collision map concept for detecting the collisions between only two robot manipulators. In...
In this paper, we propose an efficient motion planning method for fast motion of path tracking task with constant hand speed using redundant manipulator. The proposal method performs path finding on a state space of the manipulator instead of a motion planning. We previously proposed a motion planning method for fast motion of path tracking task with constant hand speed. However, this motion planning...
This research aims to build an on-line system for avoiding collisions and deadlocks between two robot manipulators which are controlled using point-to-point (PTP) commands. Both robots are sharing the same workspace and have no prior knowledge of the commands which will be sent after starting the system. We have proposed a collision map concept for detecting the collisions between the end-effectors...
In this paper, we show analysis of kinematics of environment-contacting task by position-controlled manipulator with free-joint structure at its wrist. Some friction forces at contact points and a force acted by a manipulator cannot be determined. Based on the minimum work principle, we have proposed motion estimation model with linear programming problem. With this motion estimation model, we also...
This research aims to create an algorithm for avoiding potential collision between the end-effectors (EEFs) of two robot manipulators, which shared same workspace, in on-line mode. In this paper, a collision avoidance system of two Motoman robot manipulators (Yasukawa) has been described. A collision-map method has been proposed for detecting the collisions and presenting them onto 2-D coordinate...
In this paper, we propose the motion planning of redundant manipulators for speeding-up the hand constant speed tasks. The hand trajectory is given from vector function and its time-differentials. We consider the configuration-space that represent the distance on the hand trajectory and redundancy of the redundant manipulator. The redundancy is hand orientation, redundant angle velocity and redundant...
The purpose of this research is to propose and to implement the collision avoidance method of two manipulators which can be applied to factory using RT-middleware. In fact most of the studies concerning collision avoidance method of manipulators is hardly applied to the factory because these methods are restricted to specific environment and operations. In this paper, we use RT-middleware that treats...
In this paper, we show analysis of kinematics of environment-contact task by position-controlled manipulator with free-joint structure at its wrist. Some friction forces at contact points and a force acted by a manipulator cannot be determined. So it is very complex problem to analyze the kinematics of such tasks. Including this uncertainties of acting forces, we have introduced conditions whether...
In order to improve the positioning precision of the stop posture (position and orientation) of an object and decrease the trial numbers in our proposed releasing manipulation, two iterative learning control (ILC) schemes, learning control based on convergent condition (LCBCC), and learning control based on optimal principle (LCBOP) are designed in experimental-oriented way. These two methods are...
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