METHOD FOR CORRECTING POSITION AND POSTURE OF HELD OBJECT

摘要

PROBLEM TO BE SOLVED: To provide a method for correcting the position and the posture of a held object which requires no detailed geometric information on a multi-fingered hand or the held object, and less in calculation.;SOLUTION: When the holding of an object is completed, a hand control unit 25 starts the data collecting operation for correction. The object is moved from the initial position to each predetermined representative point, the deviation of the position and the posture of the object is measured, and the correction value of the control position of each finger is input by using an interface 26 for inputting the finger tip position so as to correct the deviation. The hand control unit 25 saves the input corrected value of the finger control position of each representative point in a finger tip position corrected value calculation unit 27. The collection is completed when the corrected value at the position of the finger control point for each representative point is input. When actually performing the work of moving the object, the corrected value at the position of each finger control point after the movement is calculated in advance by the finger tip position correction calculation unit 27 by using the data for correction, and the position and the posture of the held object after the movement is corrected by adding the corrected value to the position of each finger control point for movement by the hand control unit 25.;COPYRIGHT: (C)2006,JPO&NCIPI