| Budget Amount *help |
¥16,770,000 (Direct Cost: ¥12,900,000、Indirect Cost: ¥3,870,000)
Fiscal Year 2020: ¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2019: ¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2018: ¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2017: ¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
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| Outline of Final Research Achievements |
A robot usually performs an assembly task with exchanging the gripper according to the grasped object. However, the gripper was manually designed based on the experience of a robotic system designer.
To cope with such a problem, this research provides a method for automatically designing an adequate gripper for given task. In addition, we minimize the number of grippers used to assemble a product composed of a number of works. We further make clear the feedback controller used for the designed gripper.
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