苺収穫向け非対称双腕ロボットのマニピュレータの開発

カテゴリ: 研究会(論文単位)

論文No: IIS16102

グループ名: 【D】産業応用部門 次世代産業システム研究会

発行日: 2016/09/16

タイトル(英語): Development of Strawberry Handling Asymmetrical Dual-arm Robot Manipulation

著者名: 新里 智樹(沖縄工業高等専門学校),山田 親稔(沖縄工業高等専門学校),宮城 桂(沖縄工業高等専門学校),長田 康敬(琉球大学)

著者名(英語): Tomoki Shinzato(National Institute of Technology, Okinawa College),Chikatoshi Yamada(National Institute of Technology, Okinawa College),Kei Miyagi(National Institute of Technology, Okinawa College),Yasunori Nagata(University of the Ryukyus)

キーワード: 非対称双腕ロボット|画像認識|苺収穫|asymmetrical dual-arm robot|image recognition|strawberry harvesting

要約(日本語): 本研究では，葉や茎などの障害物を排除する役割と苺の収穫を行う役割で構成された先行研究の非対称双腕ロボットのマニピュレータとカメラを用いて，自動で土壌栽培の苺を収穫する非対称双腕ロボットのマニピュレータの開発を目的とする．

要約(英語): Recently, decreasing of agriculturalists arises as a problem in Japan. Therefore, automation of the farming with the robot attracts attention. We focus on the realization of the autonomy type farm products crop robot equipped with a manipulator required in the case of the handling of farm products in this study. When a machine harvests farm products, the existence of the obstacles such as a stem and a leaf, the branch is assumed, and it is difficult to realize enough functions only with a single manipulator. Therefore, it is thought the introduction of the dual-arm manipulator effectively. It is easy to ache in the farm products that there is a number in particular, and the crop work of the strawberry of the soil cultivation that should find a secret thing on leaves is unsuitable for automation. Therefore, the recognition of the strawberry can remove an obstructive leaf, and it is necessary to harvest strawberries without injuring it. Therefore, it is automatic and, in this study, is aimed for the development of the manipulator of asymmetrical dual-arm robot harvesting strawberries of the soil cultivation using a manipulator and the camera of the asymmetrical dual-arm robot which constituted by a role harvesting a role and strawberries removing the obstacles such as a leaf or the stem which are a precedent study.

原稿種別: 日本語

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