In this paper, we show influences of grasping position to robot assembling task success ratio. In assembling task, an object has some grasping position which will bring good position precision for next assembling operation. But their precision is depend on grasping position by robot gripper, initial positioning error on supply palette, etc. We make a model of final object positioning error with initial error, gripper and object shape, coefficient of friction etc. We evaluate the model with actual experiments.
Influence of Grasping Position to Robot Assembling Task
ISR 2016 - 47st International Symposium on Robotics ; 2016 ; München, Germany
ISR 2016 ; 6
2016-01-01
6 pages
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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