Motion-reproduction system adaptable to position fluctuation of picking objects based on image information

In this paper, motion-reproduction system for picking by multiple-DoFs manipulator with a stereo camera is proposed. The conventional motion-reproduction is able to pick different sized objects because of considering force in the control system. However, the conventional system has difficulty in picking the positional changed objects in motion-reproduction. The proposed method compensates the positional fluctuation of picking objects by image processing information and reproduce saved motion successfully. The superiority of proposal is confirmed through experiments. In the experiment tomato and a toy strawberry was used for picking by multiple-DoFs manipulator. The manipulator with proposed method picked the object successfully.