三次元円検出による部品位置決めと事前のハンド干渉チェックにより実現した視覚ベースビンピッキングシステム

抄録

We have developed a complete automated vision based bin-picking system including vision system, planning system and manipulator system. The vision system detects and locates 3D circle on the object using stereo ranging technique. The planning system checks collisions between the manipulator and a bin with respect to each detected parts to select most suitable one for picking. Then, the manipulator successfully picks up parts one after another. This paper describes our unique approach to detect parts, picking strategy and experimental results to show its advantages.