スカラロボットによるカップ容器のハンドリングに関する研究 : カップ容器ポイントシール装置への適用

URI http://harp.lib.hiroshima-u.ac.jp/it-hiroshima/metadata/8101
File
Title
スカラロボットによるカップ容器のハンドリングに関する研究 : カップ容器ポイントシール装置への適用
Title Alternative
Studies on Handling Cups by a SCARA Robot : Application for Loading and Unloading Cups to and/or from a Point Sealing Machine
Author
氏名 西本 澄
ヨミ ニシモト キヨシ
別名 Nishimoto Kiyoshi
氏名 石田 秀彦
ヨミ イシダ ヒデヒコ
別名 Ishida Hidehiko
Subject
SCARA
infrared range sensor
force sensor
Hough transform
circle
NDC
548.3
Abstract

A SCARA robot has been developed to pick up a plastic cup with dry fruits and load it to a point sealing machine. If any new cup is introduced on a conveyor, an infrared range sensor will sense it and measure the distance from that sensor. In addition, force sensors are used to determine when the robot hand is in contact with a cup and grasp a cup of different size, applying the appropriate level of force. These sensors are inexpensive each. In this paper we describe how the center and radius of a circle passing through these measured points can be estimated. The effects on the measurement errors and deviations due to the surface optical characteristics of cups will be examined and the Hough transform method will be used to derive the location of a circle.

Journal Title
広島工業大学紀要. 研究編
Volume
43
Spage
65
Epage
73
Published Date
2009-02
Publisher
広島工業大学
ISSN
1346-9975
NCID
AA11599110
Language
jpn
NIIType
Departmental Bulletin Paper
Text Version
出版社版
Old URI
Set
it-hiroshima