Author(s)

Masatoshi Hikizu, Shu Mikami, Hiroaki Seki

School of Mechanical Engineering, Kanazawa University, Kanazawa, Ishikawa, Japan.

In this paper, we propose a motion planning system for bin picking using 3-D point cloud. The situation that the objects are put miscellaneously like the inside in a house is assumed. In the home, the equipment which makes an object stand in line doesn’t exist. Therefore the motion planning system which considered a collision problem becomes important. In this paper, Information on the objects is measured by a laser range finder (LRF). The information is used as 3-D point cloud, and the objects are recognized by model-base. We propose search method of a grasping point for two-fingered robotic hand, and propose search method of a path to approach the grasping point without colliding with other objects.

3-D Point Cloud, Bin Picking, ICP Algorithm, Motion Planning

Hikizu, M. , Mikami, S. and Seki, H. (2016) Motion Planning System for Bin Picking Using 3-D Point Cloud. Intelligent Control and Automation, 7, 73-83. doi: 10.4236/ica.2016.73008.