ビンピッキング用ハンドアイシステムの開発

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タイトル別名
  • Development of a Hand-Eye System for Random Picking Tasks
  • ビンピッキング用ハンドアイシステムの開発 : バラ積み物体位置姿勢推定アルゴリズムの評価手法
  • ビンピッキングヨウ ハンドアイ システム ノ カイハツ : バラズミ ブッタイ イチ シセイ スイテイ アルゴリズム ノ ヒョウカ シュホウ
  • — バラ積み物体位置姿勢推定アルゴリズムの評価手法 —
  • — Evaluation of Position and Pose Estimating Algorithm for Randomly Stacked Objects —

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In this paper, we introduce the bin-picking robot system we developed for the manufacturing industry. The system, that is composed of RGB-D cameras and a dual-arm robot, should locate the target object inside a bin, pick it, and place it onto the assembly jig. As target objects, three types of pipes and two types of flat plates (all of them made of metal) were used. To estimate the position and pose of an object inside the bin, the depth image captured by the RGB-D camera is used. And we describe three evaluation methods; accuracy, reproducibility and availability, those applied for an object's position and pose estimation algorithm, too. The accuracy and the reproducibility of the estimation are evaluated using an XYθ stage. The object is transferred in X and Y directions and rotated about Z axis using the stage, and the estimated transfer matrix of each location is compared to the real one. The availability for the estimation algorithm is measured by simulating the manipulation task with human operation. The results of the estimation agree with the manipulation experiments performed on the robot.

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