TY - GEN
T1 - Motion-reproduction system adaptable to position fluctuation of picking objects based on image information
AU - Sun, Xiaobai
AU - Tomizuka, Daisuke
AU - Sekiguchi, Hiromu
AU - Fukushima, Satoshi
AU - Saito, Yuki
AU - Nozaki, Takahiro
AU - Ohnishi, Kouhei
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported in part by the New Energy and Industrial Technology Development Organization(NEDO) under the Ministry of Economy Trade and Industry of Japan.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/15
Y1 - 2017/12/15
N2 - In this paper, motion-reproduction system for picking by multiple-DoFs manipulator with a stereo camera is proposed. The conventional motion-reproduction is able to pick different sized objects because of considering force in the control system. However, the conventional system has difficulty in picking the positional changed objects in motion-reproduction. The proposed method compensates the positional fluctuation of picking objects by image processing information and reproduce saved motion successfully. The superiority of proposal is confirmed through experiments. In the experiment tomato and a toy strawberry was used for picking by multiple-DoFs manipulator. The manipulator with proposed method picked the object successfully.
AB - In this paper, motion-reproduction system for picking by multiple-DoFs manipulator with a stereo camera is proposed. The conventional motion-reproduction is able to pick different sized objects because of considering force in the control system. However, the conventional system has difficulty in picking the positional changed objects in motion-reproduction. The proposed method compensates the positional fluctuation of picking objects by image processing information and reproduce saved motion successfully. The superiority of proposal is confirmed through experiments. In the experiment tomato and a toy strawberry was used for picking by multiple-DoFs manipulator. The manipulator with proposed method picked the object successfully.
UR - http://www.scopus.com/inward/record.url?scp=85046719183&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85046719183&partnerID=8YFLogxK
U2 - 10.1109/IECON.2017.8217178
DO - 10.1109/IECON.2017.8217178
M3 - Conference contribution
AN - SCOPUS:85046719183
T3 - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
SP - 6745
EP - 6750
BT - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
Y2 - 29 October 2017 through 1 November 2017
ER -