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Proceedings Paper

Development Of A Model-Based Bin Picking System For Cylindrical Parts Stacked Randomly
Author(s): Y. Fukada; H. Taniguchi; N. Nagata; T. Inari
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Paper 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.

Paper Details

Date Published: 27 March 1987
PDF: 8 pages
Proc. SPIE 0726, Intelligent Robots and Computer Vision V, (27 March 1987); doi: 10.1117/12.937752
Show Author Affiliations
Y. Fukada, Mitsubishi Electric Corporation (Japan)
H. Taniguchi, Mitsubishi Electric Corporation (Japan)
N. Nagata, Mitsubishi Electric Corporation (Japan)
T. Inari, Mitsubishi Electric Corporation (Japan)


Published in SPIE Proceedings Vol. 0726:
Intelligent Robots and Computer Vision V
David P. Casasent, Editor(s)

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