1A1-E10 移動体把持ロボットに向けた状態推定手法による予測技術の開発(生産システム・生産機器メカトロニクス)

概要

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This paper describes about a control scheme that enables industrial robots to grasp moving objects. In the developed control system, the target position is measured at a constant frequency by processing images acquired from two cameras. To consider the delay of image acquisition and robot motion, the move destination of the target object is predicted by using the state of movement estimated based on the Extended Kalman Filter (EKF). Results of the experiment that estimates the state of movement of a pendulum target are provided in order to validate the developed system to predict the move destination, and to detect the sudden change of target motion that affects the final accuracy of grasping.
一般社団法人日本機械学会の論文
2011-05-26