低コストなバラ積み自動車部品組付けシステムの開発

抄録

In this paper, we propose the automated bin-picking and placing system that is composed of two low cost RGB-D cameras, two robots and the assembly jig for automotive parts manufacturing industry. In the system, the depth image of the target part is captured by the RGB-D camera to estimate its position and orientation. Then, the robot picks one of parts from randomly stacked in a pallet, and places it onto the assembly jig automatically. We describe the method for integration the vision technology and the robot technology into one system, and evaluate its performance by applying on real automotive parts.