Yasuhiro Kajihara

An approach to the automation of the assembly of flexible belt-shaped objects

A robot system was developed for the assembly of flexible belt-shaped objects, and the assembly procedures employed by workers in using it were analysed. A multi-fingered hand was developed to hold the objects at several points, and to move them into the proper position for attachment to a part. In addition, an image processing method that can recognize the gripping positions on source objects and conditions after the source objects are attached is proposed.

An Inspection Method for Three-Dimensional Surface and Volume of Minute Subject by Image Processing

In this paper, we propose an inspection system of subject with three dimensional surface and volume by image processing using the distribution of brightness and section curves. The distribution of brightness on image depends on the inclination of subjects surface from an optical axis of the camera unit. Therefore, it is possible to inspect the three dimensional surface based on it. The sample is classified into some patterns by the visual inspection of worker. Next, the brightness pattern of a sample is measured, and its standard index is calculated. The weighting coefficient is determined based on the standard deviation of width of bright area on the sample. The volume of inspection subject is measured using a line laser device, and a control chart method is applied to maintain the quality of shape and volume of subjects through the production line. The proposed method is applied to soldering on electric device, and weight of lead in soldering is estimated from the measured volume.

Recognition Method by Image Processing Using 3D CAD Figure Information.

We propose a method for recognizing a subject from the image taken by a CCD camera and comparing with the CAD figure. The three-dimensional CAD figure is transformed into a two-dimensional figure in which some color is added inside the contour. The transformed figure is used as the input of image processing. The two-dimensional CAD figure and an image of the recognized subject from one camera are represented by characteristics, that is, the center of gravity, contour, the distance between them, and FFT. The figure of the subject is estimated from these characteristics by comparing with the database of CAD figure.

Development of a Scooping up Robot System.

In this paper we develop a robot system which scoops up food and helps the aged and the handicapped to eat. We classify the objects (food) into three types : liquid, jelly and grains. By using a video camera we measure how a human being scoops the above-mentioned types of objects with a spoon. Next, the motion of the spoon and its rotating angle are formulated. The results are recorded in a data base and used to determine the motion of a robotic arm. Finally, we perform an applicative experiment to determine the amount of food which can be scooped at one time and where to insert the spoon in the objects. The results of the experiment are input to a controller, and the scooping robot system is developed.