A study on handling system for cloth using 3-D vision sensor

摘要

To automate linen supply factories, we have been developing the flexible objects handling robot system. This system is constructed of two multi-joint robots on which a 3-D vision sensor is mounted. In order to handle flexible objects by this system, it is necessary to be able to determine the grasping attitude of robot-hand based on the shape of the flexible object. Especially, in this case, the grasping attitude and approach direction of the robot-hand must be parallel to the surface of a cloth for handling like a human. Therefore, the proposed system selects the adequate grasping point and approaching direction of robot-hand using the orientation and position of a corner of a cloth. Experimental result shows that our system has ability to handle a cloth by two robot-hands.