抄録
This paper proposes a robot which can pour liquid from bottle. The robot consists of a 7-axis robot arm and 4-axis robot hand, a high-speed vision, and the robot is controlled based on visual information. The robot system has the abilities to pour liquid smoothly and exactly, is independent of target. A system designer can easily adjust for target by setting several specified parameters. In this paper, first, pour motion design for pour exactly is proposed. This motion plan consists of 3 step which are extracted from human motion. Secondly, vision processing to get liquid surface information. Thirdly, drop position control using vision feedback. Finally, the data of experiments are shown and the effectiveness of the propose method is verified.
