JPS6427883A - Finger manipulator - Google Patents
Finger manipulatorInfo
- 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
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.
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)
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)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4302138A (en) * | 1978-02-01 | 1981-11-24 | Alain Zarudiansky | Remote handling devices |
-
1987
- 1987-07-20 JP JP17909087A patent/JPS6427883A/en active Pending
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4302138A (en) * | 1978-02-01 | 1981-11-24 | Alain Zarudiansky | Remote handling devices |
Cited By (1)
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 |