High-Speed Ring Insertion by Dynamic Observable Contact Hand
We propose a new multifingered robotic hand, called dynamic observable contact (DOC) hand and realize high-speed, high-precision ring insertion. The clearance between the shaft and ring is 0-36 micro-millimeters. Experiment results show that DOC hand performs high-precision ring insertion with a higher speed than a human. The average cycle time is 2.42 s for the robot, whereas it is 2.58 s for a human. In order to reduce impact force at insertion and compensate the position error, DOC hand has the following two properties. 1) 6-DOF dynamic passivity: The grasp system exhibits passivity with respect to the impact in any direction. 2) Object-pose observability: The object pose in the grasp system can be observed by the hand. This system has been developed in collaboration with OMRON Corporation.
http://ishikawa-vision.org/fusion/doc...
Watch video High-Speed Ring Insertion by Dynamic Observable Contact Hand online without registration, duration hours minute second in high quality. This video was added by user Ishikawa Group Laboratory 19 May 2019, don't forget to share it with your friends and acquaintances, it has been viewed on our site 4,739 once and liked it 66 people.