F-1233 ロボットによる移動物体のビジュアルサーボイング把持作業(G15-3 画像認識)(G15 ロボティクス・メカトロニクス部門一般講演)

概要

論文の詳細を見る
Garbages processed at a garbage disposal factory are usually and unfortunately mixed. And if there is a dangerous object like a chemical cylinder in them, it may explode when pressing. Now, at the garbage disposal factory, human performs sorting of dangerous objects and objects to recycle, then much time is wasted for it. If a robot can do the sorting work instead of human, saving of a man and evasion of dangerous work can be performed. The purpose of this research is to build a system for the visual servoing pickup operation, which picks up targets in various objects by a manipulator equipped with CCD camera. This research proposes the dynamic image recognition method using Genetic Algorithm (GA), and with experiments to pick up objects placed on rotating table by a robot incorporated this method is performed.
社団法人日本機械学会の論文
2001-08-22