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A reliable parts-picking system with an active and multi-sensor visual system

Published online by Cambridge University Press:  01 November 1997

Nobuhiro Okada ,
Tadashi Nagata  and
Tsutomu Hasegawa
Nobuhiro Okada
Affiliation:
Dept. of Intelligent Machinery and Systems, Faculty of Engineering, Kyushu University, 6-10-1 Hakozaki, Higashi-ku, Fukuoka, 812-81, Japan. E-mail: okada@mech.kyushu-u.ac.jp
Tadashi Nagata
Affiliation:
Institute of Systems & Information Technology/KYUSHU, 2-1-22 Momochihama, Sawara-ku Fukuoka, 814, Japan. E-mail: nagata@k-isit.or.jp
Tsutomu Hasegawa
Affiliation:
Dep. of Intelligent Systems, Graduate School of Information Science and Electrical Engineering, Kyushu University, 6-10-1 Hakozaki, Higashi-ku, Fukuoka, 812-81, Japan. E-mail: hasegawa@irvs.is.kyushu-u.ac.jp
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Abstract

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We constructed a high reliability parts-picking device with an active and multi-sensor visual system, that picks up a part from randomly stacked parts. The system determines the orders in which to pick up the parts. To determine the order, we introduce concepts of risks of collapsing a stack by picking, and the ease of manipulator operations. The system examines if the risks exist and estimates the ease. We show that the parts-picking system can achieve high reliability by determining the orders, using the effects of the examination and the estimation. We also give some experimental results.

Keywords

Visual systemMulti-sensorParts-pickingManipulators

Information

Type
Research Article
Information
Robotica , Volume 15 , Issue 6 , November 1997 , pp. 693 - 700
Copyright
© 1997 Cambridge University Press