Abstract
In Japan, the labor power is decreasing by the aging population and lower birthrate. In production fields, there is a big demand for robots to compensate for reduced manpower. Today, industrial robot has been used for spot welding, arc welding, coating, and assembly, material handling machines in car factories. However, the functions performed by them are limited and difficult to adapt to different environments because most factory robots are only controlled by sequence control.Operation of the industrial robot is generally required that the teaching work by humans. The proposal of the path planning method of object grasping is required. Artificial potential method is one of the path planning method. We therefore propose the gripping of an object by the manipulator and the hand by using commonly available 6 degrees of freedom based on the idea of different potential function and artificial potential method.
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