A reliable parts-picking system with an active and multi-sensor visual system

  • Authors:

  • Nobuhiro Okada;Tadashi Nagata;Tsutomu Hasegawa

  • Affiliations:

  • Dept. of Intelligent Machinery and Systems, Faculty of Engineering, Kyushu University, 6-10-1 Hakozaki, Higashi-ku, Fukuoka, 812-81, Japan. E-mail: okada@mech.kyushu-u.ac.jp;Institute of Systems & Information Technology/KYUSHU, 2-1-22 Momochihama, Sawara-ku Fukuoka, 814, Japan. E-mail: nagata@k-isit.or.jp;Dep. of Intelligent Systems, Graduate School of Information Science and Electrical Engineering, Kyushu University, 6-10-1 Hakozaki, Higashi-ku, Fukuoka, 812-81, Japan. E-mail: hasegawa@irvs.is.kyu ...

  • Venue:
  • Robotica
  • Year:
  • 1997

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Abstract

We constructed a high reliability parts-picking device with an active and multi-sensor visual system, that picks up a part from randomly stacked parts. The system determines the orders in which to pick up the parts. To determine the order, we introduce concepts of risks of collapsing a stack by picking, and the ease of manipulator operations. The system examines if the risks exist and estimates the ease. We show that the parts-picking system can achieve high reliability by determining the orders, using the effects of the examination and the estimation. We also give some experimental results.