ピッキングロボットにおける把持対象物の特性に基づくロボットハンド制御手法

抄録

Picking robots are required to pick and place objects, which have a variety of physical properties such as size, weight and flexibility. This paper presents a robot hand control method for picking robot which can adapt physical properties of objects. In our method, robot hand control system calculates safety ratio for grasping an object by integrating object information and contact information. Object information includes weight from object database, shape from an RGB camera, position and pose from planner for grasping. Contact information includes measured suction pressure and suction area which is calculated based on a measured value of pressure sensor. This safety ratio is used to determine whether suction status is sufficient to lift robot arm up and also determine acceleration of robot arm. To evaluate our method, pick and place tasks were executed for various objects which are difficult to carry stably with multiple suction pads. As a result, the success rate for picking and placing objects was increased, compared to controlling hand without our newly introduced safety ratio methods.