著者

堂前 幸康 川西 亮輔 白土 浩司 原口 林太郎 藤田 正弘 山内 悠嗣 山下 隆義 藤吉 弘亘 秋月 秀一 橋本 学

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.38, no.1, pp.95-103, 2020 (Released:2020-01-16)

参考文献数

16

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We proposed a picking robot system which is apllicable to various mixed items in shelves. The robot has a two-finger gripper which can change the open width of the finger. To determine the position, the pose and the open width when the gripper pick items, we proposed efficient determination algorithm which is based on a RGBD sensor data. In our experiments, 25 items of Amazon Picking Challenge 2015 can be picked well by our proposed system. In this paper, we describe the system, the algorithms and the experimental results.

著者

白土 浩司

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.31, no.7, pp.697-702, 2013 (Released:2013-10-01)

参考文献数

14

被引用文献数

2 2

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In FA industry, recently, it has been getting more and more difficult for system integrators to check all collision cases among robots and peripherals before the operation. It is because that robotic production system gets more complex and intelligent, therefore, robots sometimes move on the defferent trajectories and timing in each bin picking motion or recovery sequence from irregular state. A new on-line collision check method for robots is proposed by using each approach speed among the collision check models. We show the algorithm of this method and confirm the effect of it by simulation.