把持強度評価指標を用いた把持計画アルゴリズムの開発

抄録

It is needed that the robotic bin picking in a warehouse grasps and moves various weights and sizes objects rapidly and safely. We developed the grasp plan algorithm with safety ratio that simulates contact area between the robot hand and the object and realizes a robust grasping. According to experimental result, we verified that our supposed algorithm could distinguish between success and failure of an object transfer by robot prospectively.