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A Geometric Edge Detection Method from Cross-sectional Shapes of Cloth-like Object
Ibuki Yamamoto,Takashi Yoshimi,Motoki Hirayama 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
This study aims to propose methods that detect edge of the cloth by using a displacement laser sensor for the automatic sawing by a robot arm. For the edge detection, three filters which extract candidates are used, then the most suitable point is selected by the proposed condition. We tested the method at the required feeding speeds under moving the cloth with some feeding speeds. Then, we confirmed that the proposed method can detect whole edge in all cases.
Eiri Ogura,Takashi yoshimi,Motoki Hirayama 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
To realize the task of stitching the edges of semi-circular and rectangular parts together in three dimensions with a robot arm, we have proposed and studied several methods to feed the edges of the parts accurately including a guide-set or a semi-circular robot hand. To investigate the conditions suitable for automatic stitching of the target parts in three dimensions, we conducted some experiments of the combination of different proposed methods. The results showed that the guide-set was effective in assisting the sending of parts with regular sewing lines, and that when the robot hand gripped the part, the gripping surface should have the same shape as the sewing line of the part. Through a series of experiments and verifications, we were able to realize three-dimensional sewing of two different shaped parts by the robot arm. In this report, we describe the results of verification and evaluation of the proposed methods by experiments.