柔軟物の最適把持システムの構築

抄録

A three-fingered hand grasping system for flexible objects is constructed, and its validity is confirmed by fundamental experiments. A 3-fingered hand is attached to the tip of a 6-DOF manipulator, and a hamburger as a flexible object is grasped based on images obtained from a 3D camera. The optimum three fingertip positions and the grasping forces are calculated that minimizes the pressing force of the fingers under the condition that the hamburger is not dropped. As a result, it is found that the optimal grasping position becomes one of two patterns depending on the hamburger shape. However, one of them has a high probability of dropping objects due to finger position errors, which indicates that an additional evaluation function is required to prevent dropping in practical use.