2010 年 28 巻 10 号 p. 1201-1212
In a robotic cell production system, an assembly robot has to grasp various parts with a planned pose relative to its end effector robustly from the initial poses even with some uncertainties. For this purpose, it is necessary to design robust grasping strategy. In this paper, we propose a method to simulate multi-fingered hand grasping as a tool for designing robust grasping strategy. Acknowledging that pushing is the most primitive operation when a hand grasps a part on a flat floor, pushing operations are analyzed under the quasi-static condition. Based on the analysis, it is possible to simulate multi-fingered hand grasping and find a permissible error region of the object pose from which a planned grasping is guaranteed. Some examples of the simulation and permissible initial error regions are shown. It is also shown that experimentally obtained permissible initial error regions are almost identical to the theoretical one.