姿勢遷移途中のリリース動作を許容した平行グリッパによる対象部品の置き直し動作に関する研究

抄録

We introduce a novel motion strategy to reorient parts from the initial orientations toward desired orientations by a parallel gripper in a robotic assembly system. In the proposed strategy, a target part is grasped, picked up, made contact the workbench in a certain orientation, and then released so that it topples and eventually settles in a desired orientation on the workbench. This strategy is expected to improve the efficiency in reorientation tasks of parts compared to the conventional strategy. Toward motion planning of efficient reorientation of parts, in this paper, orientational transition of a part after releasing is analyzed, and the validity of the analysis is verified experimentally. The feasibility of reorientation of a part by the proposed strategy is also confirmed with experiments.