ノイズを含むレンジデータに基づく作業経路決定手法

抄録

A practical and broadly applicable path-location method is proposed for robotic welding, deburring, etc. that uses range data from the manipulated object's surfaces. The method locates the path after low-level processing to eliminate noisy parts in the range data. This method is based on a newly developed algorithm for fitting a partial object shape to prototype model information; this algorithm treats the sensor data of the 3-D surface shape adjacent to the path suitably for the sensor mechanism. The path can thus be located even if the object surface consists of several curved elements. This method is applicable to actual robotic environments where the range data is noisy, the objects have individual differences between objects, and the objects are displaced during manipulation. The derived shape and location of the surface adjacent to the path are useful for various kinds of manipulations including welding and deburring.