平行スティック指汎用ハンドによるトレイ上の仕切りに接した円柱状部品のロバスト把持戦略の計画

Abstract

In recent years, a jig-less robotic assembly system is desired as a lean production system in the manufacturing industry. In jig-less assembly, it is assumed that parts are supplied on a parts tray. However, if the parts are placed in a corner of the tray or along the partitions of the tray, it is difficult to grasp the parts with a versatile robotic hand due to the interference between the fingers of the hand and the tray. In this paper, we address this issue for a cylindrical part, which is frequently handled in actual assembly tasks, and propose a method to plan a robust grasping strategy of the part against the uncertainty in its position, utilizing pushing operation with a versatile robotic hand with parallel stick fingers.