Vision-based Object Picking

Heads: Shinichi Hirai
Contact: Mizuho Shibata

Date: 1999 - 2002

Mailing address:
Dept. Robotics, Ritsumeikan Univ.
Kusatsu, Shiga 525-8577, Japan

Supported by:

Associated lab/group:

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Project Description

We will develop a mechanical system that can grasp and manipulate a fast planar-motion object on a table. Grasping and manipulation of an object are preformed by feeding back the position and the orientation of an object to a 7-axis manipulator PA-10.

The position and the orientation of an object are detected using realtime vision module. A 7-axis manipulator PA-10, which can be drived from a PC through realtime network ARCNET, is controlled according the detected location of the object. The realtime vision module and the PC are connected throuth ARCNET. Grasping and manipulation of an object are preformed by sending the detected position and the orientation to the PC and by controlling the manipulator using the measurements.

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Personnel

Name Title Degree
Mizuho Shibata Lecturer, Kinki University Ph.D
Akihiro Masubuchi Graduated Master of Eng.
Satoru Natsume Graduated Master of Eng.

Publications

Notes


Sorting of randomly located boxes (mpg 1.3MB)

Sorting of randomly located boxes (mpg 20.4MB)

Camera-in-gripper (mpg 1.9MB)

Camera-in-gripper (mpg 3.6MB)

Pick-and-place (mpg 22.3MB)
 

Image from gripper (mpg 15.7MB)

Related Sites