Authors
Kensuke Harada1, 2, *, Natsuki Yamanobe2, Weiwei Wan1, 2, Kazuyuki Nagata2,
Ixchel G. Ramirez-Alpizar1, Tokuo Tsuji3
1
Graduate School of Engineering Science, Osaka University, Toyonaka 560-8531,
Japan
2
Intelligent Systems Research Institute, National Institute of Advanced
Industrial Science and Technology (AIST), Tsukuba 305-8568, Japan
3
Institute of Science and Technology, Kanazawa University, Kadoma-cho, Kanazawa
920-1192, Japan
*
Corresponding author. Email: [email protected]
Corresponding Author
Kensuke Harada
Received 18 October 2018, Accepted 21 November 2018, Available Online 30
March 2019.
DOI
https://doi.org/10.2991/jrnal.k.190220.005
Keywords
Robotic assembly; motion planning; skillful motion; database
Abstract
This paper proposes a robotic grasp/assembly planner using a database of
complex and skillful motion. In our proposed planner, if a skillful motion
is included in the solution path, motion data included in the database
is used. In this paper, we first explain the three-layered structure of
the motion data. Then, we explain the proposed grasp/assembly planner.
Finally, we show a numerical example to confirm the effectiveness of our
proposed method.
Copyright
© 2019 The Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license
(http://creativecommons.org/licenses/by-nc/4.0/).