Influence of Grasping Position to Robot Assembling Task

Inhalt:
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.