システム制御情報学会論文誌
Online ISSN : 2185-811X
Print ISSN : 1342-5668
論文
組立作業のための平行スティック指汎用ハンドによる三次元形状部品の把持の最適化
土橋 宏規神岡 渉深尾 隆則横小路 泰義野田 哲男長野 陽永谷 達也
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2015 年 28 巻 6 号 p. 258-266

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In a robotic cell, assembly robots have to grasp parts in various shapes of a target product accurately and robustly against some external wrenches (i.e., forces and moments) exerted on the parts in order to ensure assembly tasks. Assuming the use of a universal robotic hand with multiple fingers for this purpose, it is desirable that necessary finger forces are as small as possible. From this point of view, in this paper, we consider grasping of three-dimensional parts by a universal robotic hand with parallel stick fingers, and propose a method to optimize the grasping under a given required external wrench set. The utility of the proposed method is shown with numerical examples.

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© 2015 システム制御情報学会
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