Industrial research in robotics is particularly focused in enhancing system flexibility andreconfigurability. Grippers and manipulation end effectors play a key role to achievesuch goals, evolving to complex mechatronic systems, whose capabilities appear as notyet fully exploited. Recent research studies investigate new generations of dextrous endeffectors, designed to emulate human hand architecture and behavior. Such systemsopen the way for innovative solutions in Industry but their use is still limited to researchlab or to service robotics. Despite that, dextrous hands seem to be mature enough to beused in industrial applications, usually more demanding in robustness and lifetimereliability within adverse environments. Thanks to the high number of degrees offreedom and to the advanced control electronics, dextrous hands could accomplishadvanced handling tasks as adaptive compliant assembly and could adopt intelligentbehaviors, sensitive to the operating scenario. To fully exploit the potentialities ofdexterous hands in Industry is necessary to develop specific interfaces to connect suchcomplex devices with anthropomorphic industrial robots. Dextrous hands programmingand control appear as key tasks in order to fully exploit their potentialities andperformances. The present work proposes a novel method, based on graphicalprogramming techniques, to create a clear and usable interface to introduce dextroushands in industrial robotics. The experimental results, obtained connecting a SDH-2(Schunk Dextrous Hand, Schunk GmbH & Co. KG) and a FANUC LR Mate 200iC robot, arefinally discussed.
|Data di pubblicazione:||2009|
|Titolo:||Graphical control interface for dextrous hands in industrial robotics|
|Autori:||A. O. Andrisano; F. Leali; M. Pellicciari; A. Vergnano|
|Data del convegno:||June 10/12, 2009|
|Nome del convegno:||International Congress XVII ADM - XXI INGEGRAF|
|Luogo del convegno:||Lugo (S)|
|Titolo del libro:||Proceedings of International Congress XVII ADM - XXI INGEGRAF|
|Appare nelle tipologie:||Relazione in Atti di Convegno|
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