JPS6427883A - Finger manipulator - Google Patents

Finger manipulator

Info

Publication number
JPS6427883A
JPS6427883A JP17909087A JP17909087A JPS6427883A JP S6427883 A JPS6427883 A JP S6427883A JP 17909087 A JP17909087 A JP 17909087A JP 17909087 A JP17909087 A JP 17909087A JP S6427883 A JPS6427883 A JP S6427883A
Authority
JP
Japan
Prior art keywords
force
sensors
finger manipulator
intensity
joint
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP17909087A
Other languages
Japanese (ja)
Inventor
Takeo Omichi
Toshiya Miyatake
Yasuhisa Iida
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
National Institute of Advanced Industrial Science and Technology AIST
Original Assignee
Agency of Industrial Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Agency of Industrial Science and Technology filed Critical Agency of Industrial Science and Technology
Priority to JP17909087A priority Critical patent/JPS6427883A/en
Publication of JPS6427883A publication Critical patent/JPS6427883A/en
Pending legal-status Critical Current

Links

Landscapes

  • Manipulator (AREA)

Abstract

PURPOSE: To let a finger manipulator to simultaneously detect information of the intensity of a force received from an object, its direction, contact position with the object, and the intensity of the force and to perform accurate holding works without damaging the object by supporting and installing force sensors to tactile sensors. CONSTITUTION: Tactile sensors 1 are attached to a first joint I and a second joint II of a finger manipulator respectively and force sensors 2 are attached to the respective tactile sensors 1. When an object 4 is held by the finger manipulator, the respective sensors 1, 2 detect the contact position with the object 4, its intensity of the force, the intensity of the force which the finger manipulator receives from the object 4, and its direction. The detected information is inputted in a sensor information processor 7 by respective cables 5, 6, the processor 7 checks and comparatively processes the each information, and a control computer 8 operates the optimal operation command of the finger manipulator, namely the drive quantities of the respective joint drive parts 10, 11, and drives the first and the second joints I, II via a joint drive amplifier 9.
JP17909087A 1987-07-20 1987-07-20 Finger manipulator Pending JPS6427883A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP17909087A JPS6427883A (en) 1987-07-20 1987-07-20 Finger manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP17909087A JPS6427883A (en) 1987-07-20 1987-07-20 Finger manipulator

Publications (1)

Publication Number Publication Date
JPS6427883A true JPS6427883A (en) 1989-01-30

Family

ID=16059893

Family Applications (1)

Application Number Title Priority Date Filing Date
JP17909087A Pending JPS6427883A (en) 1987-07-20 1987-07-20 Finger manipulator

Country Status (1)

Country Link
JP (1) JPS6427883A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009125887A (en) * 2007-11-26 2009-06-11 Toyota Motor Corp Wiring structure of cable in joint part of robot

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4302138A (en) * 1978-02-01 1981-11-24 Alain Zarudiansky Remote handling devices

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4302138A (en) * 1978-02-01 1981-11-24 Alain Zarudiansky Remote handling devices

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009125887A (en) * 2007-11-26 2009-06-11 Toyota Motor Corp Wiring structure of cable in joint part of robot

Similar Documents

Publication Publication Date Title
IE821386L (en) Non-contact visual proximity sensing apparatus
BR8903132A (en) COMPUTER SYSTEM AND PROCESSES FOR PERFORMING A READING AND WRITING OPERATION
NO951274D0 (en) Tools for positioning and controlling objects in two or three dimensions
EP0369891A3 (en) Method and apparatus for automatically sensing the configuration of a surface area and effecting a work function thereon
AU7482298A (en) Force-feedback interface device for the hand
DE69427423T2 (en) Multi-stage recovery and retry mechanism
GB1511608A (en) Device for programming a manipulator
CA2289609A1 (en) Robot control unit
ATE77164T1 (en) APPARATUS FOR ENTERING AND HANDLING COMPUTER DATA.
EP0232424A4 (en) Industrial robot.
DE3786860D1 (en) CONTROL DEVICE FOR A ROBOT.
SE8203945L (en) SAFETY DEVICE ON INDUSTRIROBOT MANOVER UNIT
SE8302153D0 (en) DEVICE BY INDUSTRIROBOT
EP0533949A4 (en) Calibration system for industrial robot
AU4210589A (en) Computer input device using an orientation sensor
JPS6427883A (en) Finger manipulator
ATE96921T1 (en) FINE-CONTROLLED FOLLOW-UP ROBOT.
EP0227841A4 (en) System for controlling articulated robot.
EP0356133A3 (en) Servo control apparatus
EP0193177A3 (en) A touch input device
JPH0760683A (en) Articulated robot and control device thereof
JPS6478780A (en) Work shifter
JPS6472208A (en) Conversion system between robot coordinate and visual coordinate
JPS6431209A (en) Method for detecting arm position
JPS60195616A (en) Industrial robot