| 摘要 |
PROBLEM TO BE SOLVED: To provide a teaching system of an automatic task device for simultaneously performing teaching to a manipulator and teaching of force to a hand to reproduce the optimum task operation regardless of the type and state of parts by using the teaching system and a shape variable hand for holding various types of parts. SOLUTION: In this system, a control arithmetic unit 20 is loaded with a pulse generator 22 for the manipulator and a pulse generator 23 for the hand disposed in the inside of a computer 21. Further, the processor is loaded with an AD converter 24 for sensor input and a frame grabber for CCD camera input. The manipulator device 41 is driven by a plurality of servo motors 27 for the manipulator connected to a motor amplifier 26 for the manipulator through the manipulator pulse generator 22 mounted on the control part arithmetic part 20. A laser displacement meter 33, a 6-axis inner force sense sensor 34 and a CCD camera 35 are installed in a measuring part 19, and imaging information, 6-axis inner force sense information and displacement information are obtained by the AD converter 24 and the frame grabber 25 mounted on the control arithmetic unit 20. COPYRIGHT: (C)2004,JPO
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