Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 02, 2018 - June 05, 2018
This paper proposes a method of regrasping objects using a dual-arm robot with general-purpose hands. For regrasping a target object with the general-purpose hand, error of grasping have to be considered. The proposed method performs positioning the target object at optimal posture for regrasping using visual servoing approach to reduce effect by the error of grasping. The proposed method computes the optimal posture for grasping by maximizing minimum singular values of image Jacobian of candidate postures for the target object. Experimental results show that the proposed method achieves regrasping the target object with the general-purpose hands and performs positioning the target object with less than 0.8[mm] position accuracy.
