蛍狩り測定カメラを活用した部品トレイ認識技術の開発

－測定方法の確立と精度向上－

抄録

An inexpensive and flexible technique for gripping devices with a robot hand was developed by applying a three-dimensional position measurement system (known as firefly catching measurement) developed in our research department. The features of this measurement system are that the target to be measured,which is a pattern marker with a density distribution, can be recognized with a low-cost camera and its three-dimensional position and orientation can be measured. In this study, an attempt was made to gain further accuracy by devising noise factors and establishing a measurement accuracy evaluation method using the S/N ratio. Through a series of parameter design exercises,positional recognition accuracy was improved by 16.1 db in terms of S/N ratio and by a factor of 6.4 in terms of true value.