Parts-Picking based on Visual and Force Information in Disordered Environment.
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概要
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This paper proposes approaches to reduce the processing load on a vision system and to detect accidents using a force/torque sensor in real time. For the former approach, the concepts of the parts isolation factor and robot manipulability at the grasping position are introduced to formulate a parts-picking strategy for executing the task while maintaining the initial environment. The picking operation is executed in the order of the highest isolation factor and manipulability. An accident recovery method in which force and torque are monitored during operation is also presented. Successful parts-picking by robot systems implementing these approaches was confirmed by simulation and by actual robot operations.
- 一般社団法人 日本機械学会の論文
一般社団法人 日本機械学会 | 論文
- PREFACE
- Hybrid Vibration Suppression of Flexible Structures Using Piezoelectric Elements and Analog Circuits
- Application of Momentum Exchange Impact Dampers to Forging Machine
- アルミニウム繊維層を設置した流路の熱伝達と圧力損失特性
- 地震荷重下における配管のき裂進展評価手法の提案