Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
In a versatile robotic assembly system in manufacturing, robots need to pick up, reorient and align parts with the initial pose uncertainty. It is desirable to achieve this series of manipulation with minimally necessary mechanisms and efficient strategy. In a conventional method, the series of manipulation is achieved with a single robotic hand with parallel stick fingers by utilizing environment to temporarily place parts for reorientation. For improving the efficiency of manipulation, this paper presents a method to realize picking, reorientation and alignment of shaft-shaped parts with a single robotic hand without utilizing environment, acknowledging that the parts are often handled in assembly tasks.
