Intuitive and direct teaching system of multi-fingered hand-arm robot for grasping task

This paper presents an activity teaching and playback system for multi-fingered hand-arm robot. Activity of hand is taught by dataglove that been fixed on the manipulator, motion of manipulator is decided by operator´s hand that wears dataglove, force is determined by external minitype sensors that mounted on operator´s finger-tips. Direct teaching is utilized therefore teaching parameters are determined by operator´s intuition. Motion of manipulator and hand can be taught simultaneously. The system is simple and easily being used. In process of playback, a special force playback formula is proposed as the some inaccuracy of dataglove exists. This system is being expected to be applied for grasping tasks.