全方向移動マテリアルハンドリングロボットの試作

―運動学解析と全方向位置姿勢制御―

抄録

This paper describes prototyping of a semi-automated material handling robot that combines flexibility of operation by an operator and convenience of automation technology, to automate process of positioning when catching a raw fabric roll as a target in material handling cart. This robot has omnidirectional drive mechanism, kinematics based control system, and machine vision system for detect and approach the target. Its omnidirectional motion can be estimated through odometry calculation by analyzing forward kinematics. Machine vision system is also available to detect target position and posture using AR marker. At this stage, the robot can be controlled through a basic operation to approach a raw fabric roll by using above machine vision system.