Massive Rock Handling by a Breaker -Graspless Manipulation and Object Recognition-

摘要

Massive Rock Handling by a Breaker -Graspless Manipulation and Object Recognition- Kumiko Tadano, Takashi Tsubouchi, Masamitsu Kurisu, Shigeru Sarata Pages 487-492 (2006 Proceedings of the 23rd ISARC, Tokyo, Japan, ISBN 9784990271718, ISSN 2413-5844) Abstract: The purpose of this study is automated handling of massive rocks for moving them to a proper place and for breaking them down at a rock quarry. This paper reports our first approach in laboratory environment using a robotic manipulator with a small sized laser range finder(LRF) to handle a relatively small object. For tumbling operation, we apply image processing techniques onto range images created from a three-dimensional object using a LRF, we calculate the center of mass, the rotation axis and action point where the rock can be moved under mechanics consideration. We achieved tumbling operation of a stone of relatively simple shape which was taken from a quarry. Keywords: graspless manipulation, tumbling operation, shape recognition DOI: https://doi.org/10.22260/ISARC2006/0092 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley