ティーチングプレイバックシステムにおける双腕の協調を考慮した大型物体のハンドリング

抄録

For factory automation, robots are required to handle large objects using both arms and hands. We apply view-based teach and playback approach to a dual-arm robot. In the playback phase, the robot corrects the instructed motion according to the estimated object position and posture. For this purpose, we describe the motion correction in consideration of the hand positions. The robot is thus enabled to use the arms and hands cooperatively. In the experiments, we show that the robot is able to handle a container by using the arms and hands through the teach and playback approach.