| Budget Amount *help |
¥17,550,000 (Direct Cost: ¥13,500,000、Indirect Cost: ¥4,050,000)
Fiscal Year 2023: ¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2022: ¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000)
Fiscal Year 2021: ¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2020: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
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| Outline of Final Research Achievements |
In this study, we proposed a method to give a robot a force-tactile sensation by installing a multi-degree-of-freedom force sensor at the base of a manipulator. When a force is applied to the manipulator from the external environment, the contact position and contact force can be calculated from the ratio of the force and moment in each axis direction. We implemented the proposed method on a commercial 6-DOF manipulator and confirmed that it is possible to calculate and control the contact position and contact force.
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