マニピュレータに対する3Dカメラの空間認識を使用したRRT経路計画法

抄録

The problem of the manipulator avoiding interference with obstacles in the work environment and planning a safe route is one of the big problems in robotics automation. As one of route planning with obstacle avoidance, RRT aims at speeding up the calculation by using random sampling. RRT has the advantage of high obstacle avoidance capability. In recent years, researches on a robot vision system combining robot and vision progressed. In the obstacle avoidance route plan, information on the obstacle position from a camera has advantages such as easy calculation. The purpose of this research is to calculate the position of an obstacle necessary for route planning using a 3D camera and propose a method in which the manipulator moves to the target position while avoiding the obstacle by the improved RRT route planning method.