部品箱からの収集と部品キットへの組み込み

（テンプレートマッチングを用いた把持およびキットへの嵌め込み）

抄録

Aircraft parts have different shapes depending on the part to be assembled, and a wide variety of parts are handled. At the aircraft production site, after the parts to be used are taken out of the parts box, they are checked by placing them in a "sugatami" (parts-kit), which has an indentation molded into the shape of the part to prevent misplacement. Currently, these processes are done manually, which leads to a shortage of manpower and a decrease in work efficiency. Therefore, there is a need to automate these processes using robots. In this study, we aimed to automate the grasping and fitting of parts by using template-matching.