ロボットアームによる天ぷら盛り付け作業の自動化システムの実現

抄録

Automation in food industry is not progressing as rapidly as automotive and electronics industries due to the difficulties of handling soft food products with large variations in shape, size, and mechanical properties. In this paper, we propose a robotic system for automating the arrangement operation of tempura. The position and posture of tempura were extracted by image processing and the automatic arrangement was performed by using a robotic manipulator (UR5e) and a robotic gripper (Robotiq). Experimental tests demonstrated the effectiveness of the proposed system.