作業の教示とプログラミング　　ノイズを含むレンジデータに基づく作業経路決定手法

• 岡田 尚

  NTTグループ企業本部

• 目黒 眞一

  NTTグループ企業本部

• 奥平 雅士

  NTTヒューマンインタフェース研究所

• 金子 透

  静岡大学工学部

書誌事項

タイトル別名

• Teaching and Programing for Robots. A Method for Determining Manipulating Path Using Noisy Range Data.
• ノイズ オ フクム レンジデータ ニ モトズク サギョウ ケイロ ケッテイ シュホウ

抄録

A practical and broadly applicable path-location method is proposed for robotic welding, deburring, etc. that uses range data from the manipulated object's surfaces. The method locates the path after low-level processing to eliminate noisy parts in the range data. This method is based on a newly developed algorithm for fitting a partial object shape to prototype model information; this algorithm treats the sensor data of the 3-D surface shape adjacent to the path suitably for the sensor mechanism. The path can thus be located even if the object surface consists of several curved elements. This method is applicable to actual robotic environments where the range data is noisy, the objects have individual differences between objects, and the objects are displaced during manipulation. The derived shape and location of the surface adjacent to the path are useful for various kinds of manipulations including welding and deburring.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 17 (2), 210-217, 1999

  一般社団法人 日本ロボット学会

キーワード

• Path-Tracking Task
• Laser Range-Finder
• Path Location
• Shape Fitting
• Shape Similarity Measure

詳細情報

• CRID: 1390001204726728064
• NII論文ID: 10002865629
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.17.210
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 4679008
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4679008
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可