Plasma and Fusion Research
Online ISSN : 1880-6821
ISSN-L : 1880-6821
Regular Articles
Automated Pose Estimation of Objects Using Multiple ID Devices for Handling and Maintenance Task in Nuclear Fusion Reactor
Tomohiro UMETANIJun-ichi MORIOKAKenji INOUETatsuo ARAIYasusi MAEYuichi TAMURA
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2011 Volume 6 Pages 2406079

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Abstract
This paper describes a method for the automated estimation of three-dimensional pose (position and orientation) of objects by autonomous robots, using multiple identification (ID) devices. Our goal is to estimate the object pose for assembly or maintenance tasks in a real nuclear fusion reactor system, with autonomous robots cooperating in a virtual assembly system. The method estimates the three-dimensional pose for autonomous robots. This paper discusses a method of motion generation for ID acquisition using the sensory data acquired by the measurement system attached to the robots and from the environment. Experimental results show the feasibility of the proposed method.
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© 2011 by The Japan Society of Plasma Science and Nuclear Fusion Research
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