{"title":"Motion Planning System for Bin Picking Using 3-D Point Cloud","authors":"M. Hikizu, S. Mikami, H. Seki","doi":"10.4236/ICA.2016.73008","DOIUrl":null,"url":null,"abstract":"In \nthis paper, we propose a motion planning system for bin picking using 3-D point \ncloud. The situation that the objects are put miscellaneously like the inside \nin a house is assumed. In the home, the equipment which makes an object stand \nin line doesn’t exist. Therefore the motion planning system which considered a \ncollision problem becomes important. In this paper, Information on the objects is \nmeasured by a laser range finder (LRF). The information is used as 3-D point \ncloud, and the objects are recognized by model-base. We propose search method \nof a grasping point for two-fingered robotic hand, and propose search method of \na path to approach the grasping point without colliding with other objects.","PeriodicalId":62904,"journal":{"name":"智能控制与自动化(英文)","volume":"07 1","pages":"73-83"},"PeriodicalIF":0.0000,"publicationDate":"2016-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"智能控制与自动化(英文)","FirstCategoryId":"1093","ListUrlMain":"https://doi.org/10.4236/ICA.2016.73008","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
In
this paper, we propose a motion planning system for bin picking using 3-D point
cloud. The situation that the objects are put miscellaneously like the inside
in a house is assumed. In the home, the equipment which makes an object stand
in line doesn’t exist. Therefore the motion planning system which considered a
collision problem becomes important. In this paper, Information on the objects is
measured by a laser range finder (LRF). The information is used as 3-D point
cloud, and the objects are recognized by model-base. We propose search method
of a grasping point for two-fingered robotic hand, and propose search method of
a path to approach the grasping point without colliding with other objects.