Derivation of a Permissible Initial Pose Error Region of a Part to be Grasped based on the Dynamic Pushing Operation Analysis Considering Wobbling

Abstract

In recent years, the manufacturing industry has been promoting the introduction of robotic cell production systems suitable for variable production, and in such systems, robots need to handle parts in various shapes and assemble them with high accuracy. In particular, when grasping three-dimensional (3-D) shaped parts, it is desirable to grasp the parts accurately without wobbling. In order to absorb the uncertainty of the initial pose of a target part and plan a robust grasping strategy by which the part can be grasped in a desired pose, it is necessary to evaluate the permissible initial pose error region (PIPER) of the part under an assumed grasping strategy. In this paper, we present a method to derive the PIPER of a 3-D shaped part for grasping with a parallel stick fingered hand based on the dynamic analysis of pushing operation considering wobbling of the part.