ᕸᆅࡢᢲࡋࡘࡅ⛣ື᧯స࠾ࡅࡿ⛣ື㊥㞳ࡢ᥎ᐃ
Estimation of Displacement Distance for Wiping motion of Fabric Products
◊✲௦⾲⪅ ᕤᏛ㒊ࣟ࣎ࢸࢡࢫᏛ⛉*1 ㅮᖌ ᰘ⏣ ⍞✑
Mizuho Shibata In this manuscript, an estimation method of displacement distance for wiping motion of fabric products is implemented. This wiping motion is defined as a task in which there is contact, but no relative movement, between the manipulator and the deformable object, while there is both contact and relative movement between the object and a floor during the displacement of the object in this wiping motion. We propose a visual tracking algorithm utilizing combination of a particle filter and a rebelling processing for measuring the displace distance. We invest the validity of the algorithm utilizing a planar robotic arm.
Keywords: Fabric manipulation, Marker tracking, Wiping motion
㸬ࡣࡌࡵ ᕸᆅࡢᦙ㏦ࡸ⨨Ỵࡵ࡞ࡢసᴗࡢከࡃࡣேࡢᡭసᴗ ࡼࡗ࡚⾜ࢃࢀ࡚࠾ࡾ㸪ࡲࡔࣟ࣎ࢵࢺࡼࡿ⮬ືࡀᐇ ⌧࡛ࡁ࡚࠸࡞࠸(1)㸬≉㸪་⒪࣭⚟♴ศ㔝࠾࠸࡚ࡣ⾨⏕ 㠃ࡽᕸᆅ⮬యேࡀゐࢀࡎసᴗࢆ㐙⾜ࡍࡿࡇࡀᙉ ࡃᮃࡲࢀ࡚࠸ࡿ㸬ࡲࡓ㸪ࣃࣞࣝᴗ⏺࠾࠸࡚ࡶ㏆ᖺࡢ ከရ✀ᑡ㔞⏕⏘ࢆ⫼ᬒ㸪」㞧࡛ᑠࡉ࡞㒊ᮦࢆᢅ࠺ࡇ ࡀ࡛ࡁࡿࣟ࣎ࢵࢺࡢ㛤Ⓨࡀồࡵࡽࢀ࡚࠸ࡿ㸬ᕸᆅࡢኚᙧ ࡸ⣲ᮦࡢ㐪࠸࡞ከࡃࡢၥ㢟Ⅼࡀ࠶ࡿࡓࡵ㸪ࡲࡔᕸᆅࢆ ࣟ࣎ࢵࢺࡼࡗ࡚ᢅ࠺ࡇࡣᐇ⌧ࡋ࡚࠸࡞࠸㸬ᕸᆅࡢࣁ ࣥࢻࣜࣥࢢࢩࢫࢸ࣒ࡀᮍⓎ㐩࡛࠶ࡿ⫼ᬒࡋ࡚㸪ᕸᆅࡀ ᣢࡘࠕࡁࡃኚࡍࡿࠖ࠸࠺≉ᚩࡸࠕྠࡌ〇ရࡼࡗ ࡚ࡶ≉ᛶ㸦ᙎᛶࡸᦶ᧿ಀᩘ࡞㸧ࡤࡽࡘࡁࡀ࠶ࡿࠖ ࠸࠺ඞ᭹ࡉࢀ࡚࠸࡞࠸ၥ㢟Ⅼࡀᣲࡆࡽࢀࡿ㸬ᮏ◊✲࡛ࡣ ࡇࢀࢆゎỴࡍࡿࡓࡵ㸪ࠕᕸᆅᗋࢆ᥋ゐࡉࡏࡿࡇࡼ ࡾ㸪ᕸᆅࡀኚᙧ࡛ࡁࡿ᪉ྥࢆ㝈ᐃࡍࡿࠖ㸪ࠕどぬࢭࣥࢧࢆ ⏝࠸࡚⨨Ỵࡵࢆ⾜࠺ࡇ࡛ᕸᆅࡢ≉ᛶࡤࡽࡘࡁࡀ࠶ ࡗ࡚ࡶไᚚ࡛ࡁࡿࠖᕸᆅࣁࣥࢻࣜࣥࢢࢩࢫࢸ࣒ࢆᵓ⠏ࡍ ࡿ㸬ලయⓗࡣ㸪ᕸᆅୖࡢ࣐࣮࣮࢝ࢆᇶ㸪ᕸᆅࡢ⨨ Ỵࡵࢆ⾜࠺ࢩࢫࢸ࣒ࢆ㛤Ⓨࡍࡿ㸬ᕸᆅࡣᰂ㌾≀య࡛࠶ࡿ ࡓࡵ㸪⨨Ỵࡵࢆ⾜࠺㝿㸪᧯సⅬ⨨Ⅼࡀ␗࡞ࡿሙ ྜࡀ࠶ࡿ㸬ࡇࢀࢆᕸᆅࡢ㛫᥋⨨Ỵࡵၥ㢟࠸࠺(2)㸬ᅗ1 ᕸᆅࡢ㛫᥋⨨Ỵࡵࡢᴫせᅗࢆ♧ࡍ㸬ࡇࡢᅗ࡛ࡣ1 ࡘ ࡢ᧯సⅬࢆ1 ᮏࡢࣟ࣎ࢵࢺ࣮࣒࡛᧯సࡋ㸪ᕸᆅୖࡢ┠ ᶆⅬࢆᗋୖࡢ⨨ỴࡵⅬ୍⮴ࡉࡏࡿ㸬ᮏ◊✲࡛ࡣᕸᆅ ࡢ㛫᥋⨨Ỵࡵࢆᑡ࡞࠸ࣟ࣎ࢵࢺ࣮࣒࡛ᐇ⌧ࡍࡿࡇ ࢆ┠ᣦࡍ㸬ࡇࡇ࡛ࡣ㸪ᕸᆅࡢᢲࡋࡘࡅ⛣ື᧯సࢆ⏝ࡍ ࡿ㸬ᮏሗ࿌࡛ࡣ㸪ࡇࡢࢩࢫࢸ࣒ࢆᐇ⌧ࡍࡿࡓࡵࡢᇶ♏ ࡞ࡿ㸪ᕸᆅࡢ⛣ື㊥㞳ࢆ㸪⏬ീሗࢆ⏝࠸࡚᥎ᐃࡍࡿࢩ ࢫࢸ࣒ࡘ࠸࡚㆟ㄽࡍࡿ㸬 㸬ᕸᆅࡢᢲࡋࡘࡅ⛣ື᧯స ᮏ⠇࡛ࡣ㸪ᕸᆅࡢ㛫᥋⨨Ỵࡵࡢၥ㢟タᐃࡘ࠸࡚⪃ ࠼ࡿ㸬ᅗ1 ♧ࡍࡼ࠺㸪1 ࡘࡢࣟ࣎ࢵࢺᣦࡀᖹࡽ࡞ᗋ ⨨࠸࡚࠶ࡿᕸᆅୖࡢ1 ࡘࡢ⨨ỴࡵⅬࢆ⛣ືࡉࡏࡿ㸬 ࡇࡢ᧯స࡛ࣟ࣎ࢵࢺࡢᣦඛᕸᆅࡢ㛫ࡣࡾࡀ࡞࠸ ௬ᐃࡍࡿ㸬➹⪅ࡽࡣ㸪ࡇࡢࡼ࠺ࣟ࣎ࢵࢺᣦᕸᆅࡢ┦ ᑐ⨨ࡀኚࡏࡎࣟ࣎ࢵࢺᣦࡢ⨨ࢆ⛣ືࡉࡏࡿືస ࢆWiping ືసࡋ࡚ᐃ⩏ࡋ࡚࠸ࡿ(3)㸬ᕸᆅࡣᰂ㌾≀࡛࠶ ࡾ㸪⛣ືᚋኚᙧࡍࡿྍ⬟ᛶࡀ࠶ࡿ㸬ࡋࡓࡀࡗ࡚㸪ࡇࡢ ືసࡣ๛య࣐ࢽࣆ࣮ࣗࣞࢩࣙࣥ࠾ࡅࡿࢢࣛࢫࣉࣞࢫ࣭ ࣐ࢽࣆ࣮ࣗࣞࢩࣙࣥ(4)ࡢ⮬↛࡞ᣑᙇࡋ࡚ᐃ⩏ࡉࢀࡿ㸬 ᮏሗ࿌࡛ࡣ㸪⨨ỴࡵⅬࡋ࡚ᕸᆅ㯮ࡢ࣐࣮࣮࢝ࢆ ⨨ࡃ㸬࣐࣮࣮࢝ࡢ⨨ࡣ⎔ቃᅛᐃࡉࢀࡓ࣓࢝ࣛࡼࡗ ࡚ᚓࡽࢀࡓ⏬ീࢆ⏝ࡋ࡚ィ⟬ࡉࢀࡿ㸬㐺ษ࡞ࣝࢦࣜ ࢬ࣒ࢆ㑅ᢥࡍࡿࡓࡵ㸪ᮏၥ㢟࠾ࡅࡿእࢆศ㢮ࡍࡿ㸬 ᅗ1. ᕸᆅࡢᢲࡋࡘࡅ⛣ືࡼࡿᕸᆅࡢ㛫᥋⨨Ỵࡵ *ཎ✏ཷ 2014 ᖺ 5 ᭶ 12 ᪥ *1 ࠛ739-2116 ᮾᗈᓥᕷ㧗ᒇ࠺ࡵࡢ㎶ 1 ␒ E-Mail [email protected] － 63 － 近畿大学次世代基盤技術研究所報告 Vol. 5（2014）63－66
㛫᥋⨨Ỵࡵ᧯స࠾ࡅࡿࡁ࡞እࡢ୍ࡘࣟ࣎ࢵࢺ ᣦ㸦࣐ࢽࣆ࣮ࣗࣞࢱ㸧ࡑࡢࡶࡢࡀᣲࡆࡽࢀࡿ㸬ࣟ࣎ࢵࢺ ᣦࡣ㸪᧯సࡍࡿᕸᆅࡢື≉ᛶࡢᙳ㡪ࢆపῶࡍࡿࡓࡵ㸪 ࡛ࡁࡿࡔࡅ࣐࣮࣮࢝㏆ࡃ⨨ࡃࡁ࡛࠶ࡿ㸬ࡋࡓࡀࡗ࡚㸪 ࣓࢝ࣛࡼࡗ࡚ᚓࡽࢀࡿ⏬ീࣟ࣎ࢵࢺᣦࡀᫎࡾ㎸ࡴྍ ⬟ᛶࡀ࠶ࡿ㸬⏬ീෆࡢࣟ࣎ࢵࢺᣦࡼࡿእࡢ㠃✚ࡣ㸪 ࣐࣮࣮࢝ࡀ༨ࡵࡿ㠃✚ᑐࡋ࡚ࡁࡃ࡞ࡿྍ⬟ᛶࡀ࠶ࡿ㸬 ࡇࡢࡼ࠺࡞ࡁ࡞እᑐࡋ࡚ࣟࣂࢫࢺᛶࢆᣢࡘࣝࢦ ࣜࢬ࣒ࢆ㑅ᢥࡍࡿᚲせࡀ࠶ࡿ㸬ࡲࡓ㸪ᕸᆅ〇ရ≉᭷ࡢ እࡋ࡚ᕸ⾲㠃ࡢᶍᵝࡀ࠶ࡿ㸬ࣃࣞࣝ࡞ࡢ⏘ᴗศ 㔝࡛ࡣᵝࠎ࡞ᶍᵝࡢᕸᆅࢆᚲせࡍࡿ㸬࠼ࡤ㸪᱁Ꮚᶍ ᵝࡣ୍ࡘ୍ࡘࡢ᱁Ꮚࡣ㠃✚ࡀᑠࡉ࠸ࡶࡢࡢ㸪⏬ീෆ࠾ ࠸࡚ከࡃࡢእ࡞ࡾ࠺ࡿ㸬ࡲࡓ㸪ᕸᆅ᧯సࡢࡓࡵࡢ≉ ᚩⓗ࡞እࡢ୍ࡘࡋ࡚㸪ᕸᆅࡀኚᙧࡍࡿࡇࡼࡗ࡚ ⏕ࡌࡿࢩ࣡ࡀᣲࡆࡽࢀࡿ㸬ᕸᆅୖࡢࢩ࣡ࡣ㸪ࡁࡉࡼ ࡗ࡚ࡣ⏬ീฎ⌮࠾࠸࡚ࡁ࡞እ࡞ࡾ࠺ࡿ㸬ࡇࡢࢩ ࣡ࡣ㸪ࣟ࣎ࢵࢺᣦ㸪ᕸᆅ㸪ᗋࡢ┦ᑐⓗ࡞⛣ືᕸᆅࡢ≉ ᛶࡢ㛵ಀᛶࡼࡗ࡚⏕ᡂࡉࢀࡿ㸬ࡋࡓࡀࡗ࡚㸪ࣟ࣎ࢵࢺ ᣦࢆ㐺ษ⛣ືࡉࡏࡓሙྜ㸪ࡇࢀࡽࡢࢩ࣡ࡣ⏕ᡂࡉࢀ࡞ ࠸ࡇࡀࢃࡗ࡚࠸ࡿ(3)㸬ࡼࡗ࡚ᮏሗ࿌࡛ࡣᕸᆅୖࡢࢩ࣡ ࡼࡿእࡣ⪃៖ࡋ࡞࠸㸬 㸬⛣ື㊥㞳᥎ᐃᡭἲ ᮏ⠇࡛ࡣ㸪๓⠇ࡢၥ㢟タᐃᇶ࡙࠸࡚㸪ᕸᆅࡢ㛫᥋ ⨨Ỵࡵࡢࡓࡵࡢ⏬ീฎ⌮ࡢࣝࢦࣜࢬ࣒ࢆᥦࡍࡿ㸬ᕸ ᆅୖࡢ࣐࣮࣮࢝ࢺࣛࢵ࢟ࣥࢢࢆᐇ⌧ࡍࡿࡓࡵࣝࢦࣜ ࢬ࣒ࣃ࣮ࢸࢡࣝࣇࣝࢱ࣮ᇶ࡙ࡃ⏬ീฎ⌮ࢆ㐺⏝ ࡍࡿ㸬ࣃ࣮ࢸࢡࣝࣇࣝࢱ࣮ࢺࣛࢵ࢟ࣥࢢࡣ㸪࣐࢝ࣝ ࣥࣇࣝࢱ࣮ࡢࡼ࠺࡞⣔ิࣇࣝࢱ࣮ࡢ୍✀࡛࠶ࡿ(5)㸬 ࣃ࣮ࢸࢡࣝࣇࣝࢱ࣮࡛ᢅ࠺☜⋡ศᕸࡣ㠀⥺ᙧ㠀࢞࢘ ࢫศᕸࡢࡓࡵ㸪ࣃ࣮ࢸࢡࣝࣇࣝࢱ࣮ࡣᵝࠎ࡞࣐࣮࢝ ࣮ࢺࣛࢵ࢟ࣥࢢࡢၥ㢟㐺⏝ࡍࡿࡇࡀ࡛ࡁࡿ㸬ࣃ࣮ࢸ ࢡࣝࣇࣝࢱ࣮ࡢࣝࢦࣜࢬ࣒࡛ࡣ㸪┠ᶆᑐࡋ࡚࠸ ࡃࡘࡢ⢏Ꮚࡀ⏕ᡂࡉࢀࡿ㸬⢏Ꮚࡀ☜⋡ⓗ┠ᶆࡢ࿘ᅖ ⏕ᡂࡉࢀ㸪ࡑࡢᚋ㸪࠸ࡃࡘࡢ⢏Ꮚࡀ୍ᐃࡢᇶ‽ᇶ ࡙࠸࡚㝖ࡉࢀࡿ㸬┠ᶆࡢ⨨ࡣ⢏Ꮚࡢᖹᆒ⨨ࡋ࡚ ィ⟬ࡉࢀࡿ㸬ࣃ࣮ࢸࢡࣝࣇࣝࢱ࣮ࡼࡗ࡚ᚓࡽࢀࡓ ⨨ࡣ㸪⢏Ꮚࡢ⨨ࡀ☜⋡ⓗ⏕ᡂࡍࡿࡓࡵࣛࣥࢲ࣒ ⛣ືࡍࡿ㸬ࡘࡲࡾ㸪࣐࣮࣮࢝ࡀ㟼Ṇࡋ࡚࠸࡚ࡶ㸪⢏Ꮚ ࡢᖹᆒ⨨ࡣࣛࣥࢲ࣒⛣ືࡍࡿ㸬ࡋࡓࡀࡗ࡚㸪ࡇࡢ⢏ Ꮚࡢᖹᆒ⨨ࢆ⨨Ỵࡵไᚚ࠾ࡅࡿไᚚಙྕࡋ࡚ ⏝ࡍࡿࡢࡣᅔ㞴࡛࠶ࡿ㸬ࡇࡢၥ㢟ࢆඞ᭹ࡍࡿࡓࡵ㸪 ࣝࢦࣜࢬ࣒ࣃ࣮ࢸࢡࣝࣇࣝࢱ࣮ࣛ࣋ࣜࣥࢢฎ⌮ ࡢ⤌ࡳྜࢃࡏࢆ㐺⏝ࡍࡿ(6)㸬௨ୗᡭ㡰ࢆ♧ࡍ㸦ᅗ2㸧㸬 (a)⏬ീ࢟ࣕࣉࢳࣕ㸹࣓࡛࢝ࣛ RAW ⏬ീࢆྲྀࡾ㎸ࡴ㸬 ᅗ2. ⏬ീฎ⌮ᡭ㡰 (b) ึᮇ㸹⢏Ꮚࡢึᮇ⨨ࡣ㸪๓ฎ⌮ࡋ࡚㸪࣐࣮࢝ ࣮ୖᡭື࡛タᐃࡍࡿ㸬 (c) ್㸹RAW ⏬ീࢆ㸪ࣂࢼࣜ⏬ീኚࡍࡿ㸬 (d) ⦰ฎ⌮㸹ࣀࢬࢆపῶࡍࡿࡓࡵ㸪┠ᶆࡢ⏬⣲್ ࡣ㞄᥋ࡍࡿ⏬⣲ࡢ᮲௳ᛂࡌ࡚㌿ࡉࢀࡿ㸬 (e) ࣛ࣋ࣜࣥࢢฎ⌮㸹㞄᥋ࡍࡿ⏬⣲ࡢ㞟ࡲࡾ␒ྕࡅ ࢆࡍࡿ㸬 (f) ࣃ࣮ࢸࢡࣝࣇࣝࢱ࣮㸹୍ᐃࡢᇶ‽ᇶ࡙࠸࡚⢏ Ꮚࡣ⏕ᡂ/㝖ཤࡉࢀࡿ㸬ࡇࡢ㐣⛬ࢆ⤒࡚㸪ᑐ㇟ࢆ㏣㊧ ࡍࡿࡇࡀྍ⬟࡞ࡿ㸬⢏Ꮚࡢᖹᆒ⨨ࢆィ⟬ࡍࡿ㸬 (g) ㄆ㆑㸹ࢫࢸࢵࣉ (f) ࡛ᚓࡽࢀࡓᖹᆒ⨨ࢫࢸࢵࣉ (e) ࡛ᚓࡽࢀࡓࣛ࣋ࣜࣥࢢࢹ࣮ࢱࢆẚ㍑ࡍࡿ㸬⢏Ꮚࡢ ᖹᆒ⨨ࡀࡢࣛ࣋ࣝᒓࡍࡿࢆᚓࡿ㸬 (h) 㔜ᚰィ⟬ 㸹 ࢱ࣮ࢤࢵࢺ㡿ᇦࡢ㔜ᚰ (Center of Gravity; COG)ࡢࡳࢆィ⟬ࡍࡿ㸬ࡢࣛ࣋ࣝ㡿ᇦࡢ㔜 ᚰࡣィ⟬ࡋ࡞࠸㸬 ࡇࡢࣝࢦࣜࢬ࣒࡛ࡣ㸪ࢫࢸࢵࣉ (h) ᚋ㸪࣓࢝ࣛࡣࡧ ࡇࡢ⏬ീࢆ࢟ࣕࣉࢳࣕࡍࡿ㸬ࡇࡢࣝࢦࣜࢬ࣒ࡣ㸪ࢫࢸ ࢵࣉ (h) ࡚ᑐ㇟ࡢࣛ࣋ࣝ㡿ᇦࡢࡳ㔜ᚰࢆィ⟬ࡍࡿࡓࡵ㸪 ⢏Ꮚࡢ⏕ᡂἲࡼࡽࡎ࣐࣮࣮࢝ࡢ㔜ᚰ⨨ࢆィ⟬࡛ࡁࡿ㸬 ࡲࡓ㸪࣐࣮࣮࢝ࡢ㡿ᇦࡀእࡢ㡿ᇦศ㞳࡛ࡁ࡚࠸ࢀࡤ㸪 እࡣ࣐࣮࣮࢝␗࡞ࡿࣛ࣋ࣝ㡿ᇦุᐃࡉࢀࡿࡓࡵ㸪 㡿ᇦࡢ㠃✚ࡼࡽࡎ࣐࣮࣮࢝ࡢ㔜ᚰ⨨ࡢࡳࢆィ⟬ࡍࡿ ࡇࡀ࡛ࡁࡿ㸬➹⪅ࡣ᪤ሗ(6)࡚ࡇࡢ⏬ീฎ⌮ࣝࢦࣜࢬ ࣒ࡢ᭷ຠᛶࢆ᳨ウࡋࡓ㸬 － 64 －
㸬ᐇ㦂࠾ࡼࡧ⪃ᐹ ᮏ⠇࡛ࡣ㸪ᥦࡋࡓ⏬ീࣝࢦࣜࢬ࣒ࡢࣟ࣎ࢵࢺࢩࢫ ࢸ࣒ࡢᐇࢆヨࡳࡿ㸬ᕸᆅࡢᢲࡋࡘࡅ⛣ື᧯సࢆᐇ⌧ ࡍࡿࡓࡵ㸪ᅗ3 ♧ࡍヨసᶵࢆస〇ࡋࡓ㸬ࣟ࣎ࢵࢺ ࣮࣒ࡣࢧ࣮࣮࣎ࣔࢱ(ROBOTIS 〇 AX㸫12A)ࢆ 3 ಶ ⏝ࡋࡓ㸬ᅗࡢPC1 ࡣ࣐ࢥࣥືస㛤ጞࡢಙྕࢆ࠼ࡿ ࡓࡵ㸪PC2 ࡣ࣓࢝ࣛ᥋⥆ࡉࢀ㸪࣐࣮࣮࢝ࡢ⛣ື㊥㞳 ࢆ᥎ᐃࡍࡿࡓࡵ⏝ࡋ࡚࠸ࡿ㸬ᮏࢩࢫࢸ࣒࡛ࡣ㸪ᖹ㠃2 ⮬⏤ᗘࢆ᭷ࡍࡿࣟ࣎ࢵࢺ࣮࣒ࡢᡭඛᢲࡋࡘࡅ⏝ࡢࣔ ࣮ࢱࢆຍࡋ࡚࠸ࡿ㸬ࡇࡢᡭඛࡣᕸᆅࢆᢲࡋࡅ࡚࠸ࡿ 㛫㸪࣮࣒ᑐࡋ୍࡚ᐃࡢゅᗘࢆ⥔ᣢࡋ࡚࠸ࡿ㸬ࡇࡇ࡛㸪 ࣟ࣎ࢵࢺࡢᡭඛ⨨ࢆ(x㸪y)ࡋ㸪➨ 1 㛵⠇࠾ࡼࡧ➨ 2 㛵⠇ࡢゅᗘࢆȟ1㸪ȟ2ࡍࡿ㸬ࡲࡓ㸪ྛࣜࣥࢡࡢ㛗ࡉࢆ L1㸪L2࠾ࡼࡧL3ࡍࡿ㸬➨3 ࣜࣥࢡࡣ୍ᐃࡢゅᗘ࡛᭤ࡆ ࡓ≧ែ࡛ᗋࢆ᥋ゐࡉࡏࡿࡓࡵ㸪㐠ື୰ࣜࣥࢡࡢゅᗘࡀ ୍ᐃ࡛࠶ࡿ⪃࠼ࡿ㸬ࡋࡓࡀࡗ࡚㸪ᅇ⏝ࡍࡿࣟ࣎ࢵ ࢺ࣮࣒ࡢ㡰㐠ືᏛࡢᘧࡣ㸪 ࡞ࡿ㸬ḟ㸪ࣟ࣎ࢵࢺ࣮࣒ࡢ㏫㐠ືᏛࡢᘧࡣ ࡞ࡿ㸬ࡇࡇ࡛㸪 ⾲ࡉࢀࡿࡇࡢ㏫㐠ືᏛࢆ⏝࠸࡚㸪ࣟ࣎ࢵࢺ࣮࣒ࡢᡭ ඛ⨨ࢆไᚚࡍࡿ㸬ᮏヨ㦂ᶵ࡛ࡣL1㸻68mm㸪L2=68mm㸪 L3=49mm ࡛࠶ࡿ㸬 どぬࢭࣥࢧࡣBUFFALO 〇 BSW20K04 ࢆ㸪ไᚚ⏝ ࣐ࢥࣥࡋ࡚Arduino UNO (R3) ࢆ⏝ࡋࡓ㸬᧯సࡍ ࡿᑐ㇟ࡋ࡚↓ᆅࡢᕸᆅ࡛ᐇ㦂ࢆ⾜࠺㸬㯮࠸ᅄゅᙧࡢ࣐ ࣮࣮࢝ࢆ⏝ࡍࡿ㸬ࡑࡢࡁࡉࡣ㸪࣐࣮࣮࢝ࡢࡁࡉࡣ㸪 20mm×10mm ࡛࠶ࡿ㸬ᅗ 4 ᐇ㦂㢼ᬒࢆ♧ࡍ㸬ᅗ♧ ࡍࡼ࠺㸪(a) ึᮇ≧ែ࡛ࡣᕸᆅᡭඛࡣ᥋ࡋ࡚࠸࡞࠸㸪 (b) ᡭඛࢆ࣐࣮࣮࢝㏆ࡲ࡛⛣ືࡉࡏࡿ㸪(c) ᡭඛ࡛ᕸᆅ ࢆᢲࡋࡘࡅࡿ㸪(d)ᕸᆅࢆ⛣ືࡉࡏࡿ㸪࠸࠺ᡭ㡰࡛ᕸᆅ ࢆ᧯సࡍࡿ㸬ࣟ࣎ࢵࢺ࣮࣒ࡣᗋ᥋ゐᚋ㸪30mm ୪㐍 ⛣ືࡍࡿ㸬ᕸᆅᗋࡢ㛫ࡢ㧗ࡉࡣ⣙165 mm ࡛࠶ࡿ㸬 ⏬ീࡢࡁࡉࡣ⦪240pixle㸪ᶓ 320pixel ࡛࠶ࡾ㸪1 ⏬⣲ ࡢゎീᗘࡣ0.428mm/pixel ࡛࠶ࡿ㸬1 ᅇࡢ⏬ീฎ⌮ࡣ ࢟ࣕࣉࢳࣕࢆྵࡵ࡚⣙70ms ࡢ㛫ࢆせࡋ࡚࠸ࡿ㸬ᅗ 5 ฎ⌮⏬ീࢆ♧ࡍ㸬ᅗ♧ࡍࡼ࠺㸪⏬㠃ୖࡣࣟ࣎ࢵ ࢺᣦࡼࡿࣀࢬࡀᏑᅾࡍࡿ㸬ࡋࡋ࡞ࡀࡽ㸪ᥦࣝ ࢦࣜࢬ࣒ࢆ⏝ࡍࡿࡇ࡛㸪࣐࣮࣮࢝ࡢ㔜ᚰ⨨ࡀᚓࡽ ࢀ࡚࠸ࡿ㸬ࡇࡢ࣐࣮࣮࢝ࡢ㔜ᚰ⨨ࡣ㸪ࣃ࣮ࢸࢡࣝࣇ ࣝࢱ࣮ࡢ⢏Ꮚࡢᖹᆒ⨨ࡣ␗࡞ࡿࡇࡀᅗࡼࡾ☜ㄆ ࡛ࡁࡿ㸬 ᅗ3. ᐇ㦂⨨ (a) (b) (c) (d) ᅗ4. ᐇ㦂㢼ᬒ － 65 －
ᅗ5. ฎ⌮⏬ീ ᅗ6. Ỉᖹ⛣ື㊥㞳ࡢ㛫᥎⛣ ᮏᐇ㦂࡛ࡣ㸪ᅗ5 ࡢỈᖹ᪉ྥࣟ࣎ࢵࢺᣦࢆືࡍ㸬 ࡋࡓࡀࡗ࡚㸪ࡇࡢᐇ㦂࡛ࡣࣟ࣎ࢵࢺᣦࡢ⛣ື᪉ྥ࣋ࢡࢺ ࣝࣟ࣎ࢵࢺᣦࢆᇶ‽ࡍࡿ࣐࣮࣮࢝ࡢ⨨࣋ࢡࢺࣝࡢ ྥࡁࡣ୍⮴ࡋ࡚࠸࡞࠸㸬ᅗ6 ࣐࣮࣮࢝ࡢỈᖹ⛣ື㊥㞳 ࡢ㛫᥎⛣ࢆ♧ࡍ㸬ᅗ♧ࡍࡼ࠺㸪Ỉᖹ⛣ື㊥㞳ࡣ⣙ 25mm ࡛࠶ࡿࡇࡀศࡿ㸬ࣟ࣎ࢵࢺᣦࡢỈᖹ⛣ື㊥㞳 ࣐࣮࣮࢝ࡢỈᖹ⛣ື㊥㞳ᕪࡀࡳࡽࢀࡿࡢࡣ㸪ᕸᆅࡢ ືࡋ᪉ࡼࡿ㸬ᮏᐇ㦂࡛ࡣ㸪ࣟ࣎ࢵࢺᣦࡣᡭඛࡢ⛣ື ᪉ྥࡀỈᖹ࡞ࡿࡼ࠺⿵㛫ࢆ⾜ࡗ࡚࠸ࡿ㸬ࡋࡋ࡞ࡀ ࡽ㸪ᮏࣟ࣎ࢵࢺᣦࡣᖹ㠃㐠ືᑐࡋ࡚2 ⮬⏤ᗘࡋ᭷ࡋ ࡚࠸࡞࠸ࡓࡵ㸪㐠ື୰ࣟ࣎ࢵࢺ࣮࣒ࡢᡭඛࡢゅᗘࡣ ኚࡋ࡚࠸ࡿ㸬ࡘࡲࡾ㸪ࣟ࣎ࢵࢺᣦࡢ᥋ゐ⨨ࢆᨭⅬ ࡋ࡚ᕸᆅࡣᅇ㌿ࡋ࡚࠾ࡾ㸪᥎ᐃࡉࢀࡿ࣐࣮࣮࢝ᡭඛࡢ Ỉᖹ⛣ື㊥㞳ࡀ␗࡞ࡿ࠸࠺⤖ᯝࡀᚓࡽࢀࡿ㸬ࡲࡓ㸪ᅗ6 ࡢ1s ㏆࡛㸪ᕸᆅࡀ⛣ືࡋ࡚࠸ࡿࡇࡀ☜ㄆ࡛ࡁࡿ㸬ࡇ ࢀࡣ㸪ࣟ࣎ࢵࢺᣦᕸᆅࡀ᥋ゐࡋ㸪ᕸᆅࡀ⛣ືࡋࡓࡇ ࢆ⾲ࡋ࡚࠸ࡿ㸬ࡇࡢࡼ࠺㸪࣐࣮࣮࢝ࡢ⛣ື㊥㞳ࡢ㛫 ᥎⛣ࡢࢹ࣮ࢱࡽࣟ࣎ࢵࢺᣦᕸᆅࡢ᥋ゐ≧ែࢆᢕᥱ࡛ ࡁࡿྍ⬟ᛶࡀ♧၀ࡉࢀࡿ㸬 㸬ࡲࡵ ᮏ✏࡛ࡣ㸪ᕸᆅࡢᢲࡋࡘࡅ⛣ື᧯సࢆ⏝࠸࡚ᕸᆅࡢ㛫 ᥋⨨Ỵࡵືసࢆᐇ⌧ࡍࡿࣟ࣎ࢵࢺࢩࢫࢸ࣒ࡘ࠸࡚㆟ ㄽࡋࡓ㸬ᮏሗ࿌࡛ࡣ㸪ᖹ㠃2 ⮬⏤ᗘࢆ᭷ࡍࡿࣟ࣎ࢵࢺ ࣮࣒ᑐࡋ࡚㸪࣐࣮࣮࢝㏣㊧ࣝࢦࣜࢬ࣒ࢆᐇࡋࡓ㸬 ࣟ࣎ࢵࢺᣦࡼࡿእ࡞㛫᥋ྠ⨨Ỵࡵ᧯స࡛ၥ㢟 ࡞ࡿᆺⓗ࡞እࡀ࠶ࡿሙྜࡶ㸪ṇ☜࣐࣮࣮࢝ࡀ᳨ ฟ࡛ࡁࡿࡼ࠺㸪ࣃ࣮ࢸࢡࣝࣇࣝࢱ࣮ࣛ࣋ࣜࣥࢢ ฎ⌮ࢆ⤌ࡳྜࢃࡏࡿࡇࢆヨࡳࡓ㸬ᐇ㦂ࢆ㏻ࡋ࡚㸪(1) ᧯ సࡍࡿࣟ࣎ࢵࢺᣦ࡞㸪࣐࣮࣮࢝ᑐࡋ࡚ẚ㍑ⓗࡁ࡞ እࡀ⏬ീ୰࠶ࡿሙྜ࡛ࡶ࣐࣮࣮࢝ࢆ㏣㊧ࡍࡿࡇࡀ ࡛ࡁࡿ㸪(2) ࣐࣮࣮࢝ࡢ⛣ື㊥㞳ࡢ㛫᥎⛣ࡽ㸪ࣟ࣎ࢵ ࢺᣦᕸᆅࡢ᥋ゐ≧ែࢆᢕᥱ࡛ࡁࡿྍ⬟ᛶࡀ࠶ࡿࡇࡀ ♧ࡉࢀࡓ㸬 ㅰ㎡ ᮏ◊✲ࡢ୍㒊ࡣ㸪ྂᕝᢏ⾡⯆㈈ᅋ◊✲ຓᡂ㔠㸦ᖹᡂ 24 ᖺᗘ㸧ࡼࡾᡂࡉࢀࡓࡶࡢ࡛࠶ࡿ㸬ࡇࡇㅰពࢆ⾲ࡍ ࡿ㸬 ཧ⪃ᩥ⊩ (1) ᰘ⏣⍞✑㸪ኴ⏣๛ኈ㸪ᖹៅ୍㸪͆ࡳࡾືసࢆ ⏝ࡋࡓᕸᆅࡢᒎ㛤ືస͇㸪᪥ᮏࣟ࣎ࢵࢺᏛㄅ㸪Vol.27, No.9,(2009), pp.67-74
(2) S. Hirai, and T. Wada: “Indirect Simultaneous Positioning of Deformable Objects with Multi Pinching Fingers Based on Uncertain Model”, Robotica, Vol.18, Issue 1, (2000), pp.3-11
(3) M. Shibata, T. Ota, and S. Hirai, “Wiping Motion for Deformable Object Handling”, Proc. IEEE Int. Conf. on Robotics and Automation, (2009),
pp.134-139 (4) ┦ᒣᗣ㐨, ✄ⴥ㞞ᖾ, ୖ༤ඔ㸪͆ࢢࣛࢫࣉࣞࢫ࣭࣐ ࢽࣆ࣮ࣗࣞࢩࣙࣥࡢ◊✲: ᧯సᙧែࡢศ㢮ࣆ࣎ࢵࢺ ᧯సࡢᐇ⌧͇㸪᪥ᮏࣟ࣎ࢵࢺᏛㄅ㸪Vol. 14㸪No. 1, (1996),pp.114-121 (5) M. Isard, A. Blake,“CONDENSATION-Conditional Density Propagation for Visual Tracking”, Int. Journal of Computer Vision, Vol.29, No.1, (1998),pp.5-29
(6) M.Shibata, “Marker Tracking for Indirect Positioning During Fabric Manipulation”, The 3rd Int. Conf. on Intelligent Robotics, Automations, Telecommunication facilities, and applications, (2013),pp.889-896
