TITLE:
Motion Planning System for Bin Picking Using 3-D Point Cloud
AUTHORS:
Masatoshi Hikizu, Shu Mikami, Hiroaki Seki
KEYWORDS:
3-D Point Cloud, Bin Picking, ICP Algorithm, Motion Planning
JOURNAL NAME:
Intelligent Control and Automation,
Vol.7 No.3,
July
15,
2016
ABSTRACT: 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.