Abstract
The goal of this study is to construct a novel robot system for constant quantity filling cans (fixed can- filling task) in fish-processing plants. In this paper, we will demonstrate first a novel algorithm for the proper combination of a grilled fillet’s body and tail part as defined by the combined weight. As a result, the discrimination of experienced workers based only on combinations of visual information produced a correct answer rate of approximately 50%; the correct answer rate rose to about 90% when the sensation of weight obtained by grasping the grilled fillets could be used. On the other hand, a rate of approximately 95% correct answers was obtained by the proper combination algorithm based on the proposed three-dimensional feature that could quantify grilled fillets. Secondly, we will demonstrate the experimental verification of our novel robot system to select a pair of grilled fillet’s body and tail parts using the proper combination algorithm. This robot system consists of three linear-motion sliders in the X-Y-Z direction with a customized hand mechanism based on SWITL technology. As a result, our novel robot system for fixed can-filling task requires approximately 30 sec for picking up and transporting a pair of grilled fillets to the can. The system had 75% working accuracy despite skilled workers scoring 90%. Although the proposed robot system should improve the working accuracy and its speed of movement, these results suggest that our novel robot system for fixed can-filling task by installing the proper combination discrimination algorithm could replace the work of skilled workers in fixed can-filling.
