掌にカメラを装着した4指12自由度ハンドによるボルトおよび治具の組立の研究

抄録

In industrial sectors of the mechanical work, it is advancing the introduction of robots for the purpose of enhancing production efficiency and reducing labor costs. To improve the dexterity of industrial robots, we investigate robotic assembly of fixtures used in the production lines. To assemble the fixtures, we use a 4-finger 12 d.o.f. hand with a camera on the palm. In this paper, we investigate a grasp and insertion task of a bolt to a screw hole. And we investigate a grasp and insertion task of a slide unit to another slide unit. In these tasks, uncertainty of grasping by the hand occurs. To overcome the problem, we utilize the information of a 6-axis force sensor equipped in the robot wrist and the camera image.