1A1-G14 ランダムパターン投影を利用したロボットへの実演教示の実現(映像,作業をするロボット)

概要

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We propose a simple and easy robot teaching method. It is based on "teaching-by-showing" technique with a structured light approach. In this method, the first step of the teaching process is camera and projector calibration. The second step is a demonstration of manipulation by a human in front of the robot with a random pattern projection. The third step is obtaining range images of the object, and calculating the position and orientation of the object from the range image. In this way, we can obtain a path of the object and make robot motion to reproduce it. We examined the accuracy of range images and obtained positions and orientations of an object. In teaching experiments, a robot reproduced paths demonstrated by a human successfully by using this method.
一般社団法人日本機械学会の論文
2008-06-06