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:

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.

Personnel

	Name	Title	Degree
	Mizuho Shibata	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)

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