全方向移動型マテリアルハンドリングロボットの機構と制御

抄録

This paper describes mechanism and control of a semi-automated material handling robot that combines flexibility of operation by a person and convenience of automation technology, to automate process of positioning when catching a raw fabric roll in material handling cart. This robot has omnidirectional drive mechanism, kinematics based control system, automatic delivery mechanism, and system for detect and approach a positioning target. As a result, the robot performed automatic positioning using the machine vision system, and performed the automatic delivery of the goods.