曲げ・ねじり・き裂・欠損のあるひずみ直方体の視覚認識および把握プランニングエキスパートシステムの研究 : 第2報, 作業面・把握点決定および把握経路の算定方法

概要

論文の詳細を見る
In this paper, we propose a grasping planning method for distorted and cracked objects for the application in a micromanipulator system. In the previous report, we proposed a new 3-D recognition method for distorted and cracked objects, such as superconductive products. The proposed system makes use of the obtained and recognized 3-D data of the object to determine the work surface, the graspable surfaces and the grasping points. In the case where the most suitable grasping point is not in the working area of the manipulator, the system calculates a path to grasp the object by the manipulator. The processes of this method are shown in this paper.
一般社団法人日本機械学会の論文
1991-04-25