Motion Planning for Close and Stable Object Placement

Abstract

In this paper we proposed a new method for object placement task for picking robots. Close and stable object placement is focused in this method. For placing object more closely, this method adopted force control and pressing grasping object to other placed objects. A new path planning method with force control is used for stable placement in spite of the error in measuring grasping object. This method classifies the area of container under four categories from a viewpoint of collision risk. Based on these categories a robot trajectory with force control is calculated. According to the experimental result, this method could place object more closely with collision avoidance.