Development Of A Model-Based Bin Picking System For Cylindrical Parts Stacked Randomly

Y. Fukada; H. Taniguchi; N. Nagata; T. Inari

doi:10.1117/12.937752

27 March 1987 Development Of A Model-Based Bin Picking System For Cylindrical Parts Stacked Randomly

Y. Fukada, H. Taniguchi, N. Nagata, T. Inari

Proceedings Volume 0726, Intelligent Robots and Computer Vision V; (1987) https://doi.org/10.1117/12.937752
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States

Abstract

This paper describes a bin picking system being installed two characteristic algorithms; one automatically constructs two dimensional models of structural industrial parts and the other recognizes parts having cylindrical components as main ones, using their models. Models are constructed automatically as much as possible and are modified interactively, if necessary. Parts may be stacked randomly. The recognition algorithm first extracts the main components and next searches for other components, utilizing their models. When models are too simple to detect orientations of parts, each part is looked by the other camera after being picked out from a bin. Our system uses only one image for a scene of stacked parts. The three dimensional positions of parts are obtained using both the results of recognition and a touch detector equipped in the gripper of a robot. Experimental results are presented finally.

Citation Download Citation

Y. Fukada, H. Taniguchi, N. Nagata, and T. Inari "Development Of A Model-Based Bin Picking System For Cylindrical Parts Stacked Randomly", Proc. SPIE 0726, Intelligent Robots and Computer Vision V, (27 March 1987); https://doi.org/10.1117/12.937752

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