産業用ロボティクスにおける作業空間登録と衝突検出
Workspace Registration and Collision Detection for Industrial Robotics Applications
各種センサで環境の点群を取得し、領域成長セグメンテーションとVCCSで衝突物体を識別・近似して、ロボットと環境間の衝突を検出する手法を比較・提示した論文。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Klaus Zauner, Josef El Dib, Hubert Gattringer, Andreas Mueller
分類: cs.RO
原文アブストラクト
Motion planning for robotic manipulators relies on precise knowledge of the environment in order to be able to define restricted areas and to take collision objects into account. To capture the workspace, point clouds of the environment are acquired using various sensors. The collision objects are identified by region growing segmentation and VCCS algorithm. Subsequently the point clusters are approximated. The aim of the present paper is to compare different sensors, to illustrate the process from detection to the finished collision environment and to detect collisions between the robot and this environment.
