食品バラ積みピッキングのためのロボットシステム

抄録

This paper presents a robotic system for bulk picking of food materials. The system consists of a robotic manipulator, a 3D camera, and a parallel shell gripper. A 3D template matching was used to recognize the individual food material from a bulk. The parallel shell gripper constructed by rigid shell and soft chamber is pneumatically driven. The thin structure of the shell gripper facilitates successful grasping of individual food material from a bulk. The control of the robotic system is based on robot operating system (ROS). Experiments results on several food materials validated that the proposed robotic system can successfully handle food material from a bulk.