618 CCD カメラと5自由度ロボットアームによるキュウリの選別及び搬送

概要

論文の詳細を見る
This study deals with the selection and transportation of cucumbers by use of a CCD camera and a five-degree-of-freedom robot arm driven with stepping motors. In the present selection and transportation system, first, for the selection and transportation of cucumbers, the grasping point information and the bending amount of the cucumbers are obtained by use of the CCD camera and the picture image process system. Then, according to the grasping point information obtained by the CCD camera, the trajectory of the joint angles of the five-degree-of-freedom robot is planned in real time. Furthermore, the cucumber is transported to the place corresponding to the bending amount. From the calculation results and experimental results, the usefulness of the present selection and transportation is confirmed.
一般社団法人日本機械学会の論文
2005-08-22