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.
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