首页 | 本学科首页   官方微博 | 高级检索  
     


Robust bin-picking system using tactile sensor
Authors:Sho Tajima  Seiji Wakamatsu  Taiki Abe  Masanari Tennomi  Koki Morita  Hirotoshi Ubata
Affiliation:1. Graduate school of Natural science and Technology, Kanazawa University, Kanazawa, Japan;2. Graduate School of Science and Technology, Shinshu University, Nagano, Japan
Abstract:ABSTRACT

This paper presents a robust bin-picking system utilizing tactile sensors and a vision sensor. The object position and orientation are estimated using a fast template-matching method through the vision sensor. When a robot picks up an object, the tactile sensors detect the success or failure of the grasping, and a force sensor detects the contact with the environment. A weight sensor is also used to judge whether the lifting of the object has been successful. The robust and efficient bin-picking system presented herein is implemented through the integration of different sensors. In particular, the tactile sensors realize rope-shaped object picking that has yet to be made possible with conventional picking systems. The effectiveness of the proposed method was confirmed through grasping experiments and in a competitive event at the World Robot Challenge 2018.
Keywords:Kitting  bin-picking  tactile sensor  planning  world robot summit
设为首页 | 免责声明 | 关于勤云 | 加入收藏

Copyright©北京勤云科技发展有限公司  京ICP备09084417号