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- IGAWA Hisashi
- 北海道立総合研究機構 工業試験場
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- TANAKA Takayuki
- 北海道大学大学院情報科学研究科
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- KANEKO Shun'ichi
- 北海道大学大学院情報科学研究科
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- TADA Tatsumi
- 北海道立総合研究機構 工業試験場
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- SUZUKI Shin'ichi
- 北海道立総合研究機構 工業試験場
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- OHMURA Isao
- 北海道立総合研究機構 工業試験場
Bibliographic Information
- Other Title
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- ロボットマニピュレータのコンプライアント接触による葡萄樹根元位置の検出
- ロボットマニピュレータ ノ コンプライアント セッショク ニ ヨル ブドウジュ コンゲン イチ ノ ケンシュツ
Search this article
Abstract
To remove weeds around a grape vine without damaging the stem, we propose a contact recognition technology in this paper. The developed technique can reliably determine the position of the vine's lower stem, which may be deformed under sufficient force and may be buried in the weeds. We have developed a new method to detect the position of grape stems as objects in which its deformation is considered. By calculating the deformation from the relations between the geometry and mechanics of manipulator's link postures before and after contact point detection, the position of the object can be determined with high accuracy. Because stem position detection commences after tactile recognition has been performed, any deformation of the object has already occurred. The effect of this initial deformation on the detection accuracy cannot be ignored. Therefore, position detection of object is divided into two operations : reducing the object deformation and detecting the object position. In this way, highly accurate recognition of its position is achieved. The paper continues by giving a detailed explanation of the proposed method.
Journal
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- Journal of the Japan Society for Precision Engineering
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Journal of the Japan Society for Precision Engineering 79 (7), 651-658, 2013
The Japan Society for Precision Engineering
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Details 詳細情報について
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- CRID
- 1390001204828353664
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- NII Article ID
- 130003385008
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- NII Book ID
- AN1003250X
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- ISSN
- 1882675X
- 09120289
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- NDL BIB ID
- 024799578
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed