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Vision System for Cloth Handling Robot
Seiji Hata,Takehisa Hiroyasu,Jun’ichiro Hayashi,Hirotaka Hojoh,Toshihiro Hamada 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Flexible objects such as clothes are hard to be handled by robots. But the working conditions forlaundry factories are severe because of dusts, heats and steams, and full automation systems which can handle clothesare required. To automate these factories, 3-D Vision systems are dispensable to recognize the 3-D shape of flexible clothes. There are three steps to handle clothes by robots. They are ; (1) to pick up one cloth from piled clothes, (2) tograsp one corner of a cloth, (3) to grasp one edge of a cloth. The requirements for vision systems at these steps of the cloth handling have been analyzed and the vision algorithms have been developed.
Vision System and Flexible Robot Hand for Cloth Handling Robot System
Seiji Hata,Takehisa Hiroyasu,Jun’ichiro Hayashi,Hirotaka Hojoh,Toshihiro Hamada 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
Flexible Objects such as clothes are hard to be handled by robots. But the working conditions for laundry factories are severe because of dusts, heats and steams. To automate these factories, 3-D Vision systems are dispensable to recognize the 3-D shape of flexible clothes. Here, 3-D robot vision systems with stereo cameras and a pattern projector have been introduced to apply the cloth handlings, and a cloth handling robot system has been developed. In this paper, the 3-D robot vision systems and the cloth handling robot system with a flexible robot hand has been introduced.