Plasma and Fusion Research

Volume 6, 2406079 (2011)

Regular Articles

Automated Pose Estimation of Objects Using Multiple ID Devices for Handling and Maintenance Task in Nuclear Fusion Reactor
Tomohiro UMETANI, Jun-ichi MORIOKA, Kenji INOUE1), Tatsuo ARAI2), Yasusi MAE2) and Yuichi TAMURA
Konan University, 8-9-1 Okamoto, Higashinada, Kobe 658-8501, Japan
1)
Yamagata University, 4-3-16 Jonan, Yonezawa, Yamagata 992-8510, Japan
2)
Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8501, Japan
(Received 6 December 2010 / Accepted 29 January 2011 / Published 12 July 2011)

Abstract

This paper describes a method for the automated estimation of three-dimensional pose (position and orientation) of objects by autonomous robots, using multiple identification (ID) devices. Our goal is to estimate the object pose for assembly or maintenance tasks in a real nuclear fusion reactor system, with autonomous robots cooperating in a virtual assembly system. The method estimates the three-dimensional pose for autonomous robots. This paper discusses a method of motion generation for ID acquisition using the sensory data acquired by the measurement system attached to the robots and from the environment. Experimental results show the feasibility of the proposed method.

Keywords

assembly, virtual assembly tool, data management, pose esetimation, radio frequency identification

DOI: 10.1585/pfr.6.2406079

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This paper may be cited as follows:

Tomohiro UMETANI, Jun-ichi MORIOKA, Kenji INOUE, Tatsuo ARAI, Yasusi MAE and Yuichi TAMURA, Plasma Fusion Res. 6, 2406079 (2011).