Motion-reproduction system adaptable to position fluctuation of picking objects based on image information

Xiaobai Sun, Daisuke Tomizuka, Hiromu Sekiguchi, Satoshi Fukushima, Yuki Saito, Takahiro Nozaki, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this paper, motion-reproduction system for picking by multiple-DoFs manipulator with a stereo camera is proposed. The conventional motion-reproduction is able to pick different sized objects because of considering force in the control system. However, the conventional system has difficulty in picking the positional changed objects in motion-reproduction. The proposed method compensates the positional fluctuation of picking objects by image processing information and reproduce saved motion successfully. The superiority of proposal is confirmed through experiments. In the experiment tomato and a toy strawberry was used for picking by multiple-DoFs manipulator. The manipulator with proposed method picked the object successfully.

Original languageEnglish
Title of host publicationProceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6745-6750
Number of pages6
Volume2017-January
ISBN (Electronic)9781538611272
DOIs
Publication statusPublished - 2017 Dec 15
Event43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 - Beijing, China
Duration: 2017 Oct 292017 Nov 1

Other

Other43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
CountryChina
CityBeijing
Period17/10/2917/11/1

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ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Control and Optimization
  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering

Cite this

Sun, X., Tomizuka, D., Sekiguchi, H., Fukushima, S., Saito, Y., Nozaki, T., & Ohnishi, K. (2017). Motion-reproduction system adaptable to position fluctuation of picking objects based on image information. In Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society (Vol. 2017-January, pp. 6745-6750). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2017.8217178