This paper introduces a method of planning the coordination of the robot fingers and an arm in consideration of velocity terms when performing work which can be expressed as a sequence of continuous changes in positioning points of robot finger tips. The search procedure for planning is divided into two steps. One is the determination of the determination of task allocation to the fingers and arm. The other is the determination of the introduction point of the finger-arm coordination motions. As a first step evaluation is performed only by moving the distance to decrease the calculation time. As a second step, evaluation function includes the number of processable work points and the rate of finger-arm coordination motions. This method was tested on the piano plying work using multiple degrees of freedom anthropomorphic robot.
|ジャーナル||IFAC Proceedings Series|
|出版ステータス||Published - 1989 12月 1|
|イベント||Robot Control 1988 (SYROCO '88) - Selected Papers from the 2nd IFAC Symposium - Karlsruhe, FRG|
継続期間: 1988 10月 5 → 1988 10月 7
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