持ち上げ型ロボットハンドの開発とロータ把持動作の自動化

抄録

This paper describes robotic assembly of gear motors. The gear motors consist of gear, stator, rotor, and so on. We develop a lifting-type robot hand for the rotor. The hand is equipped with servo motors, a force sensor, and an RGB-D camera. Template matching and affine transformation are used to recognize the angle of rotor. In experiments, the rotor is recognized by the image sensor, held by the hand, and checked by the force senser.