ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2P1-09a1
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バンパ組付作業支援ロボットB-PaDY
―第4報:画像情報を用いた把持計画―
小灘 一矢金澤 亮衣川 潤小菅 一弘
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We have been developing a robot which works in cooperation with workers in the automobile bumper assembly line, named B-PaDY. This robot is not directly involved in the assembly task but does non-essential task for workers. In assembly line, AGV (Automatic Guided Vehicle) brings bumper and B-PaDY needs to grasp it to supply workers for reduction of burden. However, bumper is not always in the same position because of low accuracy of AGV. In this paper, we propose a method using camera to detect bumper based on feature matching and template matching. Moreover, after bumper detected, B-PaDY automatically correct the position and grasp it robustly.

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© 2016 一般社団法人 日本機械学会
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