2014 IEEE Int. Symposium on System Integration (SII) : Project on Development of a Robot System for Random Picking -Grasp/Manipulation Planner for a Dual-Arm Manipulator-
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The document outlines the development of a hand-eye system aimed at supporting small companies with low-cost automation for tasks like random bin-picking, using a dual-arm manipulator and RGB-D cameras. Key technologies discussed include a grasp planner, pick-and-place motion planner, and the generation of a grasp database to optimize efficiency. The project seeks to address challenges related to processing speed, recognition accuracy, and the handling of various object shapes and materials.
2014 IEEE Int. Symposium on System Integration (SII) : Project on Development of a Robot System for Random Picking -Grasp/Manipulation Planner for a Dual-Arm Manipulator-
- 1. Kensuke Harada, T.Yoshimi, Y.Kita, K.Nagata, N.Yamanobe, T.Ueshiba, Y.Satoh, T.Masuda, R.Takase, T.Nishi, T.Nagami, Y.Kawai and O.Nakamura National Institute of Advanced Industrial Science and Technology (AIST) National Institute of Advanced Industrial Science and Technology (AIST) 2014 IEEE/SICE Int. Symp. on System Integration
- 2. Develop Hand-eye System to Support Small Companies Low Cost but Can Replace Human Workers Organization Collaboration National Institute of Advanced Industrial Science and Technology (AIST)
- 3. Hand-eye System for Random Bin-picking Grasp/Manipulation Planner for Dual-arm Manipulator Grasp Planner Pick and Place Motion Planner with Re-grasp Vision System for Low Cost RGB-D Camera (e.g., Xtion) National Institute of Advanced Industrial Science and Technology (AIST)
- 4. Fixture 3D Camera Dual-arm Robot Multi-fingered Hand Vacuum Gripper Object Parts of Exhaust Manifold National Institute of Advanced Industrial Science and Technology (AIST)
- 5. Right : Vacuum with Two Suction Cups Left : Multi-Finger with Under-actuation National Institute of Advanced Industrial Science and Technology (AIST)
- 6. PIPE-1 PIPE-2 PIPE-3 PLATE-UP PLATE-LOW Target State Fixture for Welding Picking Setting National Institute of Advanced Industrial Science and Technology (AIST) • Setting Parts to the Fixture • Regrasping Needed
- 7. National Institute of Advanced Industrial Science and Technology (AIST)
- 8. Offline Phase – Grasp Planner- Generation of Grasp Database for Each Object/Hand Online Phase – Pick-and-Place Planner- Database Search Planning for Picking/Regrasping/Placing Postures PRM National Institute of Advanced Industrial Science and Technology (AIST)
- 9. Grasp Planner A Method Well Applied for Pipes Pick-and-Place Planner How to Save the Calculation Time National Institute of Advanced Industrial Science and Technology (AIST)
- 10. Fitting Multiple Cylinders to Each Object by iteratively using RANSAC Generating a Database of Grasping Postures by Referring the Cylinders (a) Geometrical model of plate (b) Cylinders to model plate (c) Grasping postures by using right hand
- 11. (a) Geometrical model of Pipe-1 (b) Cylinders to model Pipe-1 (c) Some Grasping postures by using left hand Result of Grasp Planning for a Pipe
- 12. How to Save Calculation Time Reducing the Size of Grasp Database Setting Priority for Searching the Grasp Database Using Multi-thread Programming National Institute of Advanced Industrial Science and Technology (AIST)
- 13. Grasp DB : Right IK Solvable Collision Free Grasp DB : Left IK Solvable Collision Free Object Posture Set for Regrasp IK Solvable Searching Regrasping Posture with Reduced Grasp Database For Picking For Placing
- 14. Grasp Stability Index for Multi-fingered Hand (Harada et al. ICRA 2014) Distance btw CoG and Contact Point for Vacuum Gripper Collision with Neighboring Objects (Nishi et al. CVIM 2014) CoG
- 15. Inverse Kinematics by IKfast Solving Inverse Kinematics in Parallel for Grasp Database in Picking/Regrasping/Placing Postures National Institute of Advanced Industrial Science and Technology (AIST)
- 16. Principal Direction/Curvature Segmentation Input Model シーン Recognition Nishi et al. MIRU 2014, CVIM 2014 National Institute of Advanced Industrial Science and Technology (AIST) Distortion Removing + 3D Model Matching Method
- 18. Success Rate About 80% Including Regrasps Calculation Time of Pick-and-place Planner About 1sec by Using 12 Threads National Institute of Advanced Industrial Science and Technology (AIST)
- 19. Hand-eye System for Random Bin-picking Grasp/Manipulation Planner for Dual-arm Manipulator Grasp Planner Pick and Place Motion Planner with Re-grasp Vision System for Low Cost RGB-D Camera (e.g., Xtion) National Institute of Advanced Industrial Science and Technology (AIST)
- 20. 歪みの大きいRGB-Dカメラのキャリブレーショ ンを行い、データの歪みをとる 21 National Institute of Advanced Industrial Science and Technology (AIST)
- 21. 主方向ベクト ル/曲率計算 領域分割 入力 モデル シーン 位置姿勢認識 National Institute of Advanced Industrial Science and Technology (AIST)
- 22. 孤立ワーク位置姿勢推定 いったんハンドで持ち上げた状態で計測し、 点群にモデルをあてはめて正確な位置姿勢 を推定する 23 Masuda, Takeshi: "Log-polar height maps for multiple range image registration", Computer Vision and Image Understanding, 113.11, 1158- 1169, 2009 National Institute of Advanced Industrial Science and Technology (AIST)
- 23. 中小企業が導入可能なハンドアイシステムを 開発するプロジェクトを広島県および広島の 民間企業と実施している。 RGB-DカメラとHiroを使用しバラ積み状態の 排気マニフォールド部品を拾い上げ治具上に 組み上げるシステムを構築中である。 要素技術はそろってきており、システム化して 全体の作業を調整する予定である。 24 National Institute of Advanced Industrial Science and Technology (AIST)