部品の機能とその整合性を手掛かりとしたロボット組み立て動作パラメータ決定手法

抄録

In this paper, we propose a method for determining robot motion parameters necessary for robots to automatically assemble objects. Generally, parts used in assembly are often randomly stacked. The proposed method determines the robot motion parameters from this state. Each part has a role referred to as a “function” such as “to be grasped” or “to be assembled with other parts” for each region. Related works have defined functions for everyday objects, but in this paper, we defined a novel functional label for industrial parts. The main idea of this research is to use this function as a cue when determining robot motion parameters. In addition, we use the functional consistency of parts as a supplementary idea to deal with randomly stacked parts. Functional consistency refers to the constraints that functional labels have. Functional consistency is used in the adapting to various randomly stacked parts because it is invariant no matter what state the parts are placed in. Functional consistency is used in proposed method as a cue, and robot motion parameters are determined on the basis of the relationship between parameters and functions. In an experiment using connecting rods, the average success rate for assembly was 87.5%.