ヤノウ　アキラ   Akira Yanou   矢納　陽    所属   川崎医療福祉大学  医療技術学部 診療放射線技術学科    職種   教授
言語種別	日本語
発表タイトル	画像認識とベジエ曲線を利用した未知形状認識とグラインディングロボットへの応用
会議名	ロボティクス・メカトロニクス講演会2015
学会区分	全国規模の学会
発表形式	ポスター掲示
講演区分	一般
発表者・共同発表者	◎佐藤篤, 足立賢, 見浪護, 矢納陽
発表年月日	2015/05
開催地 （都市, 国名）	京都, 日本
概要	Recently industrial robots are used for many purposes, especially as machining facilities. Many of grinding robots are controlled by using feedback of force. However, the force sensor used for force detection by means of strain gage will be damaged if a shock and big force should be applied. So, this laboratory has been researching with a method for grinding a target object into desired shape with force-sensorless feed-forward control. The dust made by grinding injures respiratory organs or eyes of worker. Therefore, this research aims to achieve construction of the robot system which can perform autonomously grinding. It is necessary to measure the unknown surface to decontaminate. This paper proposes a new recognition method to detect arbitrary shape using Bezier Curve and shows the result of grinding experiment using the method.