Memoirs of the Faculty of Engineering, Okayama University 35巻 1-2号
2001-03-27 発行
Ueda Kiyotaka
Department of Systems Engineering
大崎 紘一
Department of Systems Engineering
梶原 康博
Department of Systems Engineering
We propose an image processing method for part handling robot for picking up subjects piled in a container. Line laser light is projected on subjects, and its external shape is detected by many segments of a line laser, and pitch, roll, and yaw angles of subject are recognized precisely. A priority rule is settled to choose one subject that is taken out. This rule is determined by considering the grasping space, the position of a subject, the movement space of hand and so on.