Robust grasping strategy for assembling parts in various shapes
Robust grasping strategy for assembling parts in various shapes
复制标题
用于组装各种形状零件的稳健抓取策略
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
Ken
中科院分区：
文献类型：
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作者：
Hiroki Dobashi;Junichi Hiraoka;T. Fukao;Y. Yokokohji;A. Noda;Hikaru Nagano;T. Nagatani;H. Okuda;Ken
在机器人单元中，装配机器人必须在零件初始位姿存在不确定性的情况下，仍能鲁棒、准确地抓取各种形状的零件。为此，有必要开发一种通用的机器人手和强大的抓取策略，即手指运动，可以实现规划的抓持鲁棒性对初始位姿的不确定性的零件。在本文中，我们提出了一种方法来规划强大的抓取策略的通用机器人手装配零件的各种形状。在我们的方法中，零件对准规划配置过程中的抓取动作，抓取策略的鲁棒性进行了分析和评估的基础上推动操作分析。作为一个应用实例，我们规划了一个三维拼图组装的鲁棒抓取策略，并通过实验验证了该组装任务规划策略的鲁棒性和有效性。图形摘要
In a robotic cell, assembly robots have to grasp parts in various shapes robustly and accurately even under some uncertainties in the initial poses of the parts. For this purpose, it is necessary to develop a universal robotic hand and robust grasping strategies, i.e. finger motions that can achieve planned grasping robustly against the initial pose uncertainty of parts. In this paper, we propose a methodology to plan robust grasping strategies of a universal robotic hand for assembling parts in various shapes. In our approach, parts are aligned toward planned configurations during grasping actions, and the robustness of grasping strategies is analyzed and evaluated based on pushing operation analysis. As an application example, we plan robust grasping strategies for assembling a three-dimensional puzzle, and experimentally verify the robustness and effectiveness of the planned strategies for this assembly task. Graphical Abstract