%0 Journal Article
%T Motion Planning System for Bin Picking Using 3-D Point Cloud
%A Masatoshi Hikizu
%A Shu Mikami
%A Hiroaki Seki
%J Intelligent Control and Automation
%P 73-83
%@ 2153-0661
%D 2016
%I Scientific Research Publishing
%R 10.4236/ica.2016.73008
%X 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 doesnĄ¯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.
%K 3-D Point Cloud
%K Bin Picking
%K ICP Algorithm
%K Motion Planning
%U http://www.scirp.org/journal/PaperInformation.aspx?PaperID=68420