近畿大学次世代基盤技術研究所報告 Vol. 5（2014）63－66

ᕸᆅࡢᢲࡋࡘࡅ⛣ື᧯స࡟࠾ࡅࡿ⛣ື㊥㞳ࡢ᥎ᐃ

Estimation of Displacement Distance for Wiping motion of Fabric Products         ◊✲௦⾲⪅ ᕤᏛ㒊ࣟ࣎ࢸ࢕ࢡࢫᏛ⛉*1  ㅮᖌ ᰘ⏣ ⍞✑                 Mizuho ShibataIn this manuscript, an estimation method of displacement distance for wiping motion offabric products is implemented. This wiping motion is defined as a task in which there iscontact, 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 thedisplacement 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ࡲࡔࣟ࣎ࢵࢺ࡟ࡼࡿ⮬ື໬ࡀᐇ⌧࡛ࡁ࡚࠸࡞࠸(1)㸬≉࡟㸪་⒪࣭⚟♴ศ㔝࡟࠾࠸࡚ࡣ⾨⏕㠃࠿ࡽᕸᆅ⮬య࡟ேࡀゐࢀࡎ࡟సᴗࢆ㐙⾜ࡍࡿࡇ࡜ࡀᙉࡃᮃࡲࢀ࡚࠸ࡿ㸬ࡲࡓ㸪࢔ࣃࣞࣝᴗ⏺࡟࠾࠸࡚ࡶ㏆ᖺࡢከရ✀ᑡ㔞⏕⏘ࢆ⫼ᬒ࡟㸪」㞧࡛ᑠࡉ࡞㒊ᮦࢆᢅ࠺ࡇ࡜ࡀ࡛ࡁࡿࣟ࣎ࢵࢺࡢ㛤Ⓨࡀồࡵࡽࢀ࡚࠸ࡿ㸬ᕸᆅࡢኚᙧࡸ⣲ᮦࡢ㐪࠸࡞࡝ከࡃࡢၥ㢟Ⅼࡀ࠶ࡿࡓࡵ㸪ࡲࡔᕸᆅࢆࣟ࣎ࢵࢺ࡟ࡼࡗ࡚ᢅ࠺ࡇ࡜ࡣᐇ⌧ࡋ࡚࠸࡞࠸㸬ᕸᆅࡢࣁࣥࢻࣜࣥࢢࢩࢫࢸ࣒ࡀᮍⓎ㐩࡛࠶ࡿ⫼ᬒ࡜ࡋ࡚㸪ᕸᆅࡀᣢࡘࠕ኱ࡁࡃኚ໬ࡍࡿࠖ࡜࠸࠺≉ᚩࡸࠕྠࡌ〇ရ࡟ࡼࡗ࡚ࡶ≉ᛶ㸦ᙎᛶࡸᦶ᧿ಀᩘ࡞࡝㸧࡟ࡤࡽࡘࡁࡀ࠶ࡿࠖ࡜࠸࠺ඞ᭹ࡉࢀ࡚࠸࡞࠸ၥ㢟Ⅼࡀᣲࡆࡽࢀࡿ㸬ᮏ◊✲࡛ࡣࡇࢀࢆゎỴࡍࡿࡓࡵ࡟㸪ࠕᕸᆅ࡜ᗋࢆ᥋ゐࡉࡏࡿࡇ࡜࡟ࡼࡾ㸪ᕸᆅࡀኚᙧ࡛ࡁࡿ᪉ྥࢆ㝈ᐃࡍࡿࠖ㸪
ࠕどぬࢭࣥࢧࢆ⏝࠸࡚఩⨨Ỵࡵࢆ⾜࠺ࡇ࡜࡛ᕸᆅࡢ≉ᛶ࡟ࡤࡽࡘࡁࡀ࠶ࡗ࡚ࡶไᚚ࡛ࡁࡿࠖᕸᆅࣁࣥࢻࣜࣥࢢࢩࢫࢸ࣒ࢆᵓ⠏ࡍࡿ㸬ලయⓗ࡟ࡣ㸪ᕸᆅୖࡢ࣐࣮࣮࢝ࢆᇶ࡟㸪ᕸᆅࡢ఩⨨Ỵࡵࢆ⾜࠺ࢩࢫࢸ࣒ࢆ㛤Ⓨࡍࡿ㸬ᕸᆅࡣᰂ㌾≀య࡛࠶ࡿࡓࡵ㸪఩⨨Ỵࡵࢆ⾜࠺㝿࡟㸪᧯సⅬ࡜఩⨨Ⅼࡀ␗࡞ࡿሙྜࡀ࠶ࡿ㸬ࡇࢀࢆᕸᆅࡢ㛫᥋఩⨨Ỵࡵၥ㢟࡜࠸࠺(2)㸬ᅗ 1࡟ᕸᆅࡢ㛫᥋఩⨨Ỵࡵࡢᴫせᅗࢆ♧ࡍ㸬ࡇࡢᅗ࡛ࡣ 1 ࡘ
ࡢ᧯సⅬࢆ 1 ᮏࡢࣟ࣎ࢵࢺ࢔࣮࣒࡛᧯సࡋ㸪ᕸᆅୖࡢ┠ᶆⅬࢆᗋୖࡢ఩⨨ỴࡵⅬ࡟୍⮴ࡉࡏࡿ㸬ᮏ◊✲࡛ࡣᕸᆅࡢ㛫᥋఩⨨Ỵࡵࢆᑡ࡞࠸ࣟ࣎ࢵࢺ࢔࣮࣒࡛ᐇ⌧ࡍࡿࡇ࡜ࢆ┠ᣦࡍ㸬ࡇࡇ࡛ࡣ㸪ᕸᆅࡢᢲࡋࡘࡅ⛣ື᧯సࢆ฼⏝ࡍࡿ㸬ᮏሗ࿌࡛ࡣ㸪ࡇࡢࢩࢫࢸ࣒ࢆᐇ⌧ࡍࡿࡓࡵࡢᇶ♏࡜࡞ࡿ㸪ᕸᆅࡢ⛣ື㊥㞳ࢆ㸪⏬ീ᝟ሗࢆ⏝࠸࡚᥎ᐃࡍࡿࢩ
ࢫࢸ࣒࡟ࡘ࠸࡚㆟ㄽࡍࡿ㸬㸬ᕸᆅࡢᢲࡋࡘࡅ⛣ື᧯సᮏ⠇࡛ࡣ㸪ᕸᆅࡢ㛫᥋఩⨨Ỵࡵࡢၥ㢟タᐃ࡟ࡘ࠸࡚⪃࠼ࡿ㸬ᅗ 1 ࡟♧ࡍࡼ࠺࡟㸪1 ࡘࡢࣟ࣎ࢵࢺᣦࡀᖹࡽ࡞ᗋ
࡟⨨࠸࡚࠶ࡿᕸᆅୖࡢ 1 ࡘࡢ఩⨨ỴࡵⅬࢆ⛣ືࡉࡏࡿ㸬ࡇࡢ᧯స࡛ࣟ࣎ࢵࢺࡢᣦඛ࡜ᕸᆅࡢ㛫࡟ࡣ⁥ࡾࡀ࡞࠸࡜௬ᐃࡍࡿ㸬➹⪅ࡽࡣ㸪ࡇࡢࡼ࠺࡟ࣟ࣎ࢵࢺᣦ࡜ᕸᆅࡢ┦ᑐ఩⨨ࡀኚ໬ࡏࡎ࡟ࣟ࣎ࢵࢺᣦࡢ఩⨨ࢆ⛣ືࡉࡏࡿືస
ࢆ Wiping ືస࡜ࡋ࡚ᐃ⩏ࡋ࡚࠸ࡿ(3)㸬ᕸᆅࡣᰂ㌾≀࡛࠶ࡾ㸪⛣ືᚋ࡟ኚᙧࡍࡿྍ⬟ᛶࡀ࠶ࡿ㸬ࡋࡓࡀࡗ࡚㸪ࡇࡢືసࡣ๛య࣐ࢽࣆ࣮ࣗࣞࢩࣙࣥ࡟࠾ࡅࡿࢢࣛࢫࣉࣞࢫ࣭
࣐ࢽࣆ࣮ࣗࣞࢩࣙࣥ(4)ࡢ⮬↛࡞ᣑᙇ࡜ࡋ࡚ᐃ⩏ࡉࢀࡿ㸬ᮏሗ࿌࡛ࡣ㸪఩⨨ỴࡵⅬ࡜ࡋ࡚ᕸᆅ࡟㯮ࡢ࣐࣮࣮࢝ࢆ⨨ࡃ㸬࣐࣮࣮࢝ࡢ఩⨨ࡣ⎔ቃ࡟ᅛᐃࡉࢀࡓ࣓࢝ࣛ࡟ࡼࡗ࡚ᚓࡽࢀࡓ⏬ീࢆ౑⏝ࡋ࡚ィ⟬ࡉࢀࡿ㸬㐺ษ࡞࢔ࣝࢦࣜࢬ࣒ࢆ㑅ᢥࡍࡿࡓࡵ࡟㸪ᮏၥ㢟࡟࠾ࡅࡿእ஘ࢆศ㢮ࡍࡿ㸬*ཎ✏ཷ௜ 2014 ᖺ 5 ᭶ 12 ᪥
*1 ࠛ739-2116 ᮾᗈᓥᕷ㧗ᒇ࠺ࡵࡢ㎶ 1 ␒  E-Mail shibata@hiroshima.kindai.ac.jp

ᅗ 1. ᕸᆅࡢᢲࡋࡘࡅ⛣ື࡟ࡼࡿᕸᆅࡢ㛫᥋఩⨨Ỵࡵ

－ 63 －㛫᥋఩⨨Ỵࡵ᧯స࡟࠾ࡅࡿ኱ࡁ࡞እ஘ࡢ୍ࡘ࡟ࣟ࣎ࢵࢺᣦ㸦࣐ࢽࣆ࣮ࣗࣞࢱ㸧ࡑࡢࡶࡢࡀᣲࡆࡽࢀࡿ㸬ࣟ࣎ࢵࢺᣦࡣ㸪᧯సࡍࡿᕸᆅࡢື≉ᛶࡢᙳ㡪ࢆపῶࡍࡿࡓࡵ࡟㸪࡛ࡁࡿࡔࡅ࣐࣮࣮࢝࡟㏆ࡃ⨨ࡃ࡭ࡁ࡛࠶ࡿ㸬ࡋࡓࡀࡗ࡚㸪࣓࢝ࣛ࡟ࡼࡗ࡚ᚓࡽࢀࡿ⏬ീ࡟ࣟ࣎ࢵࢺᣦࡀᫎࡾ㎸ࡴྍ⬟ᛶࡀ࠶ࡿ㸬⏬ീෆࡢࣟ࣎ࢵࢺᣦ࡟ࡼࡿእ஘ࡢ㠃✚ࡣ㸪࣐࣮࣮࢝ࡀ༨ࡵࡿ㠃✚࡟ᑐࡋ࡚኱ࡁࡃ࡞ࡿྍ⬟ᛶࡀ࠶ࡿ㸬ࡇࡢࡼ࠺࡞኱ࡁ࡞እ஘࡟ᑐࡋ࡚ࣟࣂࢫࢺᛶࢆᣢࡘ࢔ࣝࢦ
ࣜࢬ࣒ࢆ㑅ᢥࡍࡿᚲせࡀ࠶ࡿ㸬ࡲࡓ㸪ᕸᆅ〇ရ࡟≉᭷ࡢእ஘࡜ࡋ࡚ᕸ⾲㠃ࡢᶍᵝࡀ࠶ࡿ㸬࢔ࣃࣞࣝ࡞࡝ࡢ⏘ᴗศ㔝࡛ࡣᵝࠎ࡞ᶍᵝࡢᕸᆅࢆᚲせ࡜ࡍࡿ㸬౛࠼ࡤ㸪᱁Ꮚᶍᵝࡣ୍ࡘ୍ࡘࡢ᱁Ꮚࡣ㠃✚ࡀᑠࡉ࠸ࡶࡢࡢ㸪⏬ീෆ࡟࠾࠸࡚ከࡃࡢእ஘࡟࡞ࡾ࠺ࡿ㸬ࡲࡓ㸪ᕸᆅ᧯సࡢࡓࡵࡢ≉ᚩⓗ࡞እ஘ࡢ୍ࡘ࡜ࡋ࡚㸪ᕸᆅࡀኚᙧࡍࡿࡇ࡜࡟ࡼࡗ࡚⏕ࡌࡿࢩ࣡ࡀᣲࡆࡽࢀࡿ㸬ᕸᆅୖࡢࢩ࣡ࡣ㸪኱ࡁࡉ࡟ࡼࡗ࡚ࡣ⏬ീฎ⌮࡟࠾࠸࡚኱ࡁ࡞እ஘࡜࡞ࡾ࠺ࡿ㸬ࡇࡢࢩ࣡ࡣ㸪ࣟ࣎ࢵࢺᣦ㸪ᕸᆅ㸪ᗋࡢ┦ᑐⓗ࡞⛣ື࡜ᕸᆅࡢ≉ᛶࡢ㛵ಀᛶ࡟ࡼࡗ࡚⏕ᡂࡉࢀࡿ㸬ࡋࡓࡀࡗ࡚㸪ࣟ࣎ࢵࢺᣦࢆ㐺ษ࡟⛣ືࡉࡏࡓሙྜ㸪ࡇࢀࡽࡢࢩ࣡ࡣ⏕ᡂࡉࢀ࡞ࡼࡗ࡚ᮏሗ࿌࡛ࡣᕸᆅୖࡢࢩ࣡࠸ࡇ࡜ࡀࢃ࠿ࡗ࡚࠸ࡿ(3)㸬࡟ࡼࡿእ஘ࡣ⪃៖ࡋ࡞࠸㸬㸬⛣ື㊥㞳᥎ᐃᡭἲᮏ⠇࡛ࡣ㸪๓⠇ࡢၥ㢟タᐃ࡟ᇶ࡙࠸࡚㸪ᕸᆅࡢ㛫᥋఩⨨Ỵࡵࡢࡓࡵࡢ⏬ീฎ⌮ࡢ࢔ࣝࢦࣜࢬ࣒ࢆᥦ᱌ࡍࡿ㸬ᕸᆅୖࡢ࣐࣮࣮࢝ࢺࣛࢵ࢟ࣥࢢࢆᐇ⌧ࡍࡿࡓࡵ࡟࢔ࣝࢦࣜࢬ࣒࡟ࣃ࣮ࢸ࢕ࢡࣝࣇ࢕ࣝࢱ࣮࡟ᇶ࡙ࡃ⏬ീฎ⌮ࢆ㐺⏝ࡍࡿ㸬ࣃ࣮ࢸ࢕ࢡࣝࣇ࢕ࣝࢱ࣮ࢺࣛࢵ࢟ࣥࢢࡣ㸪࣐࢝ࣝࣥࣇ࢕ࣝࢱ࣮ࡢࡼ࠺࡞᫬⣔ิࣇ࢕ࣝࢱ࣮ࡢ୍✀࡛࠶ࡿ(5)㸬
ࣃ࣮ࢸ࢕ࢡࣝࣇ࢕ࣝࢱ࣮࡛ᢅ࠺☜⋡ศᕸࡣ㠀⥺ᙧ㠀࢞࢘ࢫศᕸࡢࡓࡵ㸪ࣃ࣮ࢸ࢕ࢡࣝࣇ࢕ࣝࢱ࣮ࡣᵝࠎ࡞࣐࣮࣮࢝ࢺࣛࢵ࢟ࣥࢢࡢၥ㢟࡟㐺⏝ࡍࡿࡇ࡜ࡀ࡛ࡁࡿ㸬ࣃ࣮ࢸ࢕ࢡࣝࣇ࢕ࣝࢱ࣮ࡢ࢔ࣝࢦࣜࢬ࣒࡛ࡣ㸪┠ᶆ࡟ᑐࡋ࡚࠸ࡃࡘ࠿ࡢ⢏Ꮚࡀ⏕ᡂࡉࢀࡿ㸬⢏Ꮚࡀ☜⋡ⓗ࡟┠ᶆࡢ࿘ᅖ࡟⏕ᡂࡉࢀ㸪ࡑࡢᚋ㸪࠸ࡃࡘ࠿ࡢ⢏Ꮚࡀ୍ᐃࡢᇶ‽࡟ᇶ࡙࠸࡚᤼㝖ࡉࢀࡿ㸬┠ᶆࡢ఩⨨ࡣ⢏Ꮚࡢᖹᆒ఩⨨࡜ࡋ࡚ィ⟬ࡉࢀࡿ㸬ࣃ࣮ࢸ࢕ࢡࣝࣇ࢕ࣝࢱ࣮࡟ࡼࡗ࡚ᚓࡽࢀࡓ఩⨨ࡣ㸪⢏Ꮚࡢ఩⨨ࡀ☜⋡ⓗ࡟⏕ᡂࡍࡿࡓࡵ࡟ࣛࣥࢲ࣒
࡟⛣ືࡍࡿ㸬ࡘࡲࡾ㸪࣐࣮࣮࢝ࡀ㟼Ṇࡋ࡚࠸࡚ࡶ㸪⢏Ꮚࡢᖹᆒ఩⨨ࡣࣛࣥࢲ࣒࡟⛣ືࡍࡿ㸬ࡋࡓࡀࡗ࡚㸪ࡇࡢ⢏Ꮚࡢᖹᆒ఩⨨ࢆ఩⨨Ỵࡵไᚚ࡟࠾ࡅࡿไᚚಙྕ࡜ࡋ࡚౑⏝ࡍࡿࡢࡣᅔ㞴࡛࠶ࡿ㸬ࡇࡢၥ㢟ࢆඞ᭹ࡍࡿࡓࡵ࡟㸪࢔ࣝࢦࣜࢬ࣒࡟ࣃ࣮ࢸ࢕ࢡࣝࣇ࢕ࣝࢱ࣮࡜ࣛ࣋ࣜࣥࢢฎ⌮㸬ࡢ⤌ࡳྜࢃࡏࢆ㐺⏝ࡍࡿ(6)㸬௨ୗ࡟ᡭ㡰ࢆ♧ࡍ㸦ᅗ 2㸧
(a)⏬ീ࢟ࣕࣉࢳࣕ㸹࣓࡛࢝ࣛ RAW ⏬ീࢆྲྀࡾ㎸ࡴ㸬ᅗ 2. ⏬ീฎ⌮ᡭ㡰(b) ึᮇ໬㸹⢏Ꮚࡢึᮇ఩⨨ࡣ㸪๓ฎ⌮࡜ࡋ࡚㸪࣐࣮࣮࢝ୖ࡟ᡭື࡛タᐃࡍࡿ㸬(c) ஧್໬㸹RAW ⏬ീࢆ㸪ࣂ࢖ࢼࣜ⏬ീ࡟ኚ᥮ࡍࡿ㸬(d) ཰⦰ฎ⌮㸹ࣀ࢖ࢬࢆపῶࡍࡿࡓࡵ࡟㸪┠ᶆࡢ⏬⣲್ࡣ㞄᥋ࡍࡿ⏬⣲ࡢ᮲௳࡟ᛂࡌ࡚཯㌿ࡉࢀࡿ㸬(e) ࣛ࣋ࣜࣥࢢฎ⌮㸹㞄᥋ࡍࡿ⏬⣲ࡢ㞟ࡲࡾ࡟␒ྕ௜ࡅࢆࡍࡿ㸬(f) ࣃ࣮ࢸ࢕ࢡࣝࣇ࢕ࣝࢱ࣮㸹୍ᐃࡢᇶ‽࡟ᇶ࡙࠸࡚⢏Ꮚࡣ⏕ᡂ/㝖ཤࡉࢀࡿ㸬ࡇࡢ㐣⛬ࢆ⤒࡚㸪ᑐ㇟ࢆ㏣㊧ࡍࡿࡇ࡜ࡀྍ⬟࡜࡞ࡿ㸬⢏Ꮚࡢᖹᆒ఩⨨ࢆィ⟬ࡍࡿ㸬(g) ㄆ㆑㸹ࢫࢸࢵࣉ (f) ࡛ᚓࡽࢀࡓᖹᆒ఩⨨࡜ࢫࢸࢵࣉ(e) ࡛ᚓࡽࢀࡓࣛ࣋ࣜࣥࢢࢹ࣮ࢱࢆẚ㍑ࡍࡿ㸬⢏Ꮚࡢᖹᆒ఩⨨ࡀ࡝ࡢࣛ࣋ࣝ࡟ᒓࡍࡿ࠿ࢆᚓࡿ㸬(h) 㔜ᚰィ⟬ 㸹 ࢱ࣮ࢤࢵࢺ㡿ᇦࡢ㔜ᚰ (Center ofGravity; COG)ࡢࡳࢆィ⟬ࡍࡿ㸬௚ࡢࣛ࣋ࣝ㡿ᇦࡢ㔜ᚰࡣィ⟬ࡋ࡞࠸㸬ࡇࡢ࢔ࣝࢦࣜࢬ࣒࡛ࡣ㸪ࢫࢸࢵࣉ (h) ᚋ㸪࣓࢝ࣛࡣ෌ࡧࡇࡢ⏬ീࢆ࢟ࣕࣉࢳࣕࡍࡿ㸬ࡇࡢ࢔ࣝࢦࣜࢬ࣒ࡣ㸪ࢫࢸࢵࣉ (h) ࡟࡚ᑐ㇟ࡢࣛ࣋ࣝ㡿ᇦࡢࡳ㔜ᚰࢆィ⟬ࡍࡿࡓࡵ㸪⢏Ꮚࡢ⏕ᡂἲ࡟ࡼࡽࡎ࣐࣮࣮࢝ࡢ㔜ᚰ఩⨨ࢆィ⟬࡛ࡁࡿ㸬ࡲࡓ㸪࣐࣮࣮࢝ࡢ㡿ᇦࡀእ஘ࡢ㡿ᇦ࡜ศ㞳࡛ࡁ࡚࠸ࢀࡤ㸪እ஘ࡣ࣐࣮࣮࢝࡜␗࡞ࡿࣛ࣋ࣝ㡿ᇦ࡜ุᐃࡉࢀࡿࡓࡵ㸪㡿ᇦࡢ㠃✚࡟ࡼࡽࡎ࣐࣮࣮࢝ࡢ㔜ᚰ఩⨨ࡢࡳࢆィ⟬ࡍࡿࡇ࡜ࡀ࡛ࡁࡿ㸬➹⪅ࡣ᪤ሗ(6)࡟࡚ࡇࡢ⏬ീฎ⌮࢔ࣝࢦࣜࢬ
࣒ࡢ᭷ຠᛶࢆ᳨ウࡋࡓ㸬

－ 64 －㸬ᐇ㦂࠾ࡼࡧ⪃ᐹ              ᮏ⠇࡛ࡣ㸪ᥦ᱌ࡋࡓ⏬ീ࢔ࣝࢦࣜࢬ࣒ࡢࣟ࣎ࢵࢺࢩࢫࢸ࣒࡬ࡢᐇ⿦ࢆヨࡳࡿ㸬ᕸᆅࡢᢲࡋࡘࡅ⛣ື᧯సࢆᐇ⌧ࡍࡿࡓࡵ࡟㸪ᅗ 3 ࡟♧ࡍヨసᶵࢆస〇ࡋࡓ㸬ࣟ࣎ࢵࢺ࢔࣮࣒࡟ࡣࢧ࣮࣮࣎ࣔࢱ(ROBOTIS 〇 AX㸫12A)ࢆ 3 ಶ౑⏝ࡋࡓ㸬ᅗࡢ PC1 ࡣ࣐࢖ࢥࣥ࡬ືస㛤ጞࡢಙྕࢆ୚࠼ࡿ
ࡓࡵ࡟㸪PC2 ࡣ࣓࢝ࣛ࡜᥋⥆ࡉࢀ㸪࣐࣮࣮࢝ࡢ⛣ື㊥㞳ࢆ᥎ᐃࡍࡿࡓࡵ࡟౑⏝ࡋ࡚࠸ࡿ㸬ᮏࢩࢫࢸ࣒࡛ࡣ㸪ᖹ㠃 2⮬⏤ᗘࢆ᭷ࡍࡿࣟ࣎ࢵࢺ࢔࣮࣒ࡢᡭඛ࡟ᢲࡋࡘࡅ⏝ࡢ࣮ࣔࢱࢆ௜ຍࡋ࡚࠸ࡿ㸬ࡇࡢᡭඛࡣᕸᆅࢆᢲࡋ௜ࡅ࡚࠸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ȟ2 ࡜ࡍࡿ㸬ࡲࡓ㸪ྛࣜࣥࢡࡢ㛗ࡉࢆ
L1㸪L2 ࠾ࡼࡧ L3 ࡜ࡍࡿ㸬➨ 3 ࣜࣥࢡࡣ୍ᐃࡢゅᗘ࡛᭤ࡆࡓ≧ែ࡛ᗋࢆ᥋ゐࡉࡏࡿࡓࡵ㸪㐠ື୰࡟ࣜࣥࢡࡢゅᗘࡀ୍ᐃ࡛࠶ࡿ࡜⪃࠼ࡿ㸬ࡋࡓࡀࡗ࡚㸪௒ᅇ౑⏝ࡍࡿࣟ࣎ࢵࢺ࢔࣮࣒ࡢ㡰㐠ືᏛࡢᘧࡣ㸪

20mm×10mm ࡛࠶ࡿ㸬ᅗ 4 ࡟ᐇ㦂㢼ᬒࢆ♧ࡍ㸬ᅗ࡟♧ࡍࡼ࠺࡟㸪(a) ึᮇ≧ែ࡛ࡣᕸᆅ࡜ᡭඛࡣ᥋ࡋ࡚࠸࡞࠸㸪(b) ᡭඛࢆ࣐࣮࣮࢝௜㏆ࡲ࡛⛣ືࡉࡏࡿ㸪(c) ᡭඛ࡛ᕸᆅ
ࢆᢲࡋࡘࡅࡿ㸪(d)ᕸᆅࢆ⛣ືࡉࡏࡿ㸪࡜࠸࠺ᡭ㡰࡛ᕸᆅࢆ᧯సࡍࡿ㸬ࣟ࣎ࢵࢺ࢔࣮࣒ࡣᗋ࡟᥋ゐᚋ㸪30mm ୪㐍⛣ືࡍࡿ㸬ᕸᆅ࡜ᗋ࡜ࡢ㛫ࡢ㧗ࡉࡣ⣙ 165 mm ࡛࠶ࡿ㸬⏬ീࡢ኱ࡁࡉࡣ⦪ 240pixle㸪ᶓ 320pixel ࡛࠶ࡾ㸪1 ⏬⣲ࡢゎീᗘࡣ 0.428mm/pixel ࡛࠶ࡿ㸬1 ᅇࡢ⏬ീฎ⌮࡟ࡣ࢟ࣕࣉࢳࣕࢆྵࡵ࡚⣙ 70ms ࡢ᫬㛫ࢆせࡋ࡚࠸ࡿ㸬ᅗ 5࡟ฎ⌮⏬ീࢆ♧ࡍ㸬ᅗ࡟♧ࡍࡼ࠺࡟㸪⏬㠃ୖ࡟ࡣࣟ࣎ࢵࢺᣦ࡟ࡼࡿࣀ࢖ࢬࡀᏑᅾࡍࡿ㸬ࡋ࠿ࡋ࡞ࡀࡽ㸪ᥦ᱌࢔ࣝࢦࣜࢬ࣒ࢆ฼⏝ࡍࡿࡇ࡜࡛㸪࣐࣮࣮࢝ࡢ㔜ᚰ఩⨨ࡀᚓࡽࢀ࡚࠸ࡿ㸬ࡇࡢ࣐࣮࣮࢝ࡢ㔜ᚰ఩⨨ࡣ㸪ࣃ࣮ࢸ࢕ࢡࣝࣇ࢕ࣝࢱ࣮ࡢ⢏Ꮚࡢᖹᆒ఩⨨࡜ࡣ␗࡞ࡿࡇ࡜ࡀᅗࡼࡾ☜ㄆ࡛ࡁࡿ㸬࡜࡞ࡿ㸬ḟ࡟㸪ࣟ࣎ࢵࢺ࢔࣮࣒ࡢ㏫㐠ືᏛࡢᘧࡣ
ᅗ 3. ᐇ㦂⿦⨨࡜࡞ࡿ㸬ࡇࡇ࡛㸪(a)࡜⾲ࡉࢀࡿࡇࡢ㏫㐠ືᏛࢆ⏝࠸࡚㸪ࣟ࣎ࢵࢺ࢔࣮࣒ࡢᡭඛ఩⨨ࢆไᚚࡍࡿ㸬ᮏヨ㦂ᶵ࡛ࡣ L1㸻68mm㸪
L2=68mm㸪
L3=49mm ࡛࠶ࡿ㸬
どぬࢭࣥࢧ࡟ࡣ BUFFALO 〇 BSW20K04 ࢆ㸪ไᚚ⏝࣐࢖ࢥࣥ࡜ࡋ࡚ Arduino UNO (R3) ࢆ౑⏝ࡋࡓ㸬᧯సࡍࡿᑐ㇟࡜ࡋ࡚↓ᆅࡢᕸᆅ࡛ᐇ㦂ࢆ⾜࠺㸬㯮࠸ᅄゅᙧࡢ࣐࣮࣮࢝ࢆ฼⏝ࡍࡿ㸬ࡑࡢ኱ࡁࡉࡣ㸪࣐࣮࣮࢝ࡢ኱ࡁࡉࡣ㸪－ 65 －(b)(d)(c)ᅗ 4. ᐇ㦂㢼ᬒᅗ 5. ฎ⌮⏬ീ

ᅗ 6. Ỉᖹ⛣ື㊥㞳ࡢ᫬㛫᥎⛣ᮏᐇ㦂࡛ࡣ㸪ᅗ 5 ࡢỈᖹ᪉ྥ࡟ࣟ࣎ࢵࢺᣦࢆື࠿ࡍ㸬ࡋࡓࡀࡗ࡚㸪ࡇࡢᐇ㦂࡛ࡣࣟ࣎ࢵࢺᣦࡢ⛣ື᪉ྥ࣋ࢡࢺࣝ࡜ࣟ࣎ࢵࢺᣦࢆᇶ‽࡜ࡍࡿ࣐࣮࣮࢝ࡢ఩⨨࣋ࢡࢺࣝࡢྥࡁࡣ୍⮴ࡋ࡚࠸࡞࠸㸬ᅗ 6 ࡟࣐࣮࣮࢝ࡢỈᖹ⛣ື㊥㞳ࡢ᫬㛫᥎⛣ࢆ♧ࡍ㸬ᅗ࡟♧ࡍࡼ࠺࡟㸪Ỉᖹ⛣ື㊥㞳ࡣ⣙
25mm ࡛࠶ࡿࡇ࡜ࡀศ࠿ࡿ㸬ࣟ࣎ࢵࢺᣦࡢỈᖹ⛣ື㊥㞳࡜࣐࣮࣮࢝ࡢỈᖹ⛣ື㊥㞳࡟ᕪࡀࡳࡽࢀࡿࡢࡣ㸪ᕸᆅࡢື࠿ࡋ᪉࡟ࡼࡿ㸬ᮏᐇ㦂࡛ࡣ㸪ࣟ࣎ࢵࢺᣦࡣᡭඛࡢ⛣ື᪉ྥࡀỈᖹ࡟࡞ࡿࡼ࠺࡟⿵㛫ࢆ⾜ࡗ࡚࠸ࡿ㸬ࡋ࠿ࡋ࡞ࡀࡽ㸪ᮏࣟ࣎ࢵࢺᣦࡣᖹ㠃㐠ື࡟ᑐࡋ࡚ 2 ⮬⏤ᗘࡋ࠿᭷ࡋ࡚࠸࡞࠸ࡓࡵ㸪㐠ື୰࡟ࣟ࣎ࢵࢺ࢔࣮࣒ࡢᡭඛࡢゅᗘࡣኚ໬ࡋ࡚࠸ࡿ㸬ࡘࡲࡾ㸪ࣟ࣎ࢵࢺᣦࡢ᥋ゐ఩⨨ࢆᨭⅬ࡜ࡋ࡚ᕸᆅࡣᅇ㌿ࡋ࡚࠾ࡾ㸪᥎ᐃࡉࢀࡿ࣐࣮࣮࢝࡜ᡭඛࡢỈᖹ⛣ື㊥㞳ࡀ␗࡞ࡿ࡜࠸࠺⤖ᯝࡀᚓࡽࢀࡿ㸬ࡲࡓ㸪ᅗ 6
ࡢ 1s ௜㏆࡛㸪ᕸᆅࡀ⛣ືࡋ࡚࠸ࡿࡇ࡜ࡀ☜ㄆ࡛ࡁࡿ㸬ࡇࢀࡣ㸪ࣟ࣎ࢵࢺᣦ࡜ᕸᆅࡀ᥋ゐࡋ㸪ᕸᆅࡀ⛣ືࡋࡓࡇ࡜ࢆ⾲ࡋ࡚࠸ࡿ㸬ࡇࡢࡼ࠺࡟㸪࣐࣮࣮࢝ࡢ⛣ື㊥㞳ࡢ᫬㛫᥎⛣ࡢࢹ࣮ࢱ࠿ࡽࣟ࣎ࢵࢺᣦ࡜ᕸᆅࡢ᥋ゐ≧ែࢆᢕᥱ࡛ࡁࡿྍ⬟ᛶࡀ♧၀ࡉࢀࡿ㸬㸬ࡲ࡜ࡵᮏ✏࡛ࡣ㸪ᕸᆅࡢᢲࡋࡘࡅ⛣ື᧯సࢆ⏝࠸࡚ᕸᆅࡢ㛫᥋఩⨨Ỵࡵືసࢆᐇ⌧ࡍࡿࣟ࣎ࢵࢺࢩࢫࢸ࣒࡟ࡘ࠸࡚㆟ㄽࡋࡓ㸬ᮏሗ࿌࡛ࡣ㸪ᖹ㠃 2 ⮬⏤ᗘࢆ᭷ࡍࡿࣟ࣎ࢵࢺ࢔
࣮࣒࡟ᑐࡋ࡚㸪࣐࣮࣮࢝㏣㊧࢔ࣝࢦࣜࢬ࣒ࢆᐇ⿦ࡋࡓ㸬ࣟ࣎ࢵࢺᣦ࡟ࡼࡿእ஘࡞࡝㛫᥋ྠ᫬఩⨨Ỵࡵ᧯స࡛ၥ㢟࡞ࡿ඾ᆺⓗ࡞እ஘ࡀ࠶ࡿሙྜ࡟ࡶ㸪ṇ☜࡟࣐࣮࣮࢝ࡀ᳨ฟ࡛ࡁࡿࡼ࠺࡟㸪ࣃ࣮ࢸ࢕ࢡࣝࣇ࢕ࣝࢱ࣮࡜ࣛ࣋ࣜࣥࢢ
ฎ⌮ࢆ⤌ࡳྜࢃࡏࡿࡇ࡜ࢆヨࡳࡓ㸬ᐇ㦂ࢆ㏻ࡋ࡚㸪(1) ᧯సࡍࡿࣟ࣎ࢵࢺᣦ࡞࡝㸪࣐࣮࣮࢝࡟ᑐࡋ࡚ẚ㍑ⓗ኱ࡁ࡞እ஘ࡀ⏬ീ୰࡟࠶ࡿሙྜ࡛ࡶ࣐࣮࣮࢝ࢆ㏣㊧ࡍࡿࡇ࡜ࡀ࡛ࡁࡿ㸪(2) ࣐࣮࣮࢝ࡢ⛣ື㊥㞳ࡢ᫬㛫᥎⛣࠿ࡽ㸪ࣟ࣎ࢵࢺᣦ࡜ᕸᆅࡢ᥋ゐ≧ែࢆᢕᥱ࡛ࡁࡿྍ⬟ᛶࡀ࠶ࡿࡇ࡜ࡀ♧ࡉࢀࡓ㸬ㅰ㎡ᮏ◊✲ࡢ୍㒊ࡣ㸪ྂᕝᢏ⾡᣺⯆㈈ᅋ◊✲ຓᡂ㔠㸦ᖹᡂ24 ᖺᗘ㸧࡟ࡼࡾᡂࡉࢀࡓࡶࡢ࡛࠶ࡿ㸬ࡇࡇ࡟ㅰពࢆ⾲ࡍࡿ㸬ཧ⪃ᩥ⊩(1) ᰘ⏣⍞✑㸪ኴ⏣๛ኈ㸪ᖹ஭ៅ୍㸪͆᦬ࡳ⁥ࡾືసࢆ฼⏝ࡋࡓᕸᆅࡢᒎ㛤ືస͇㸪᪥ᮏࣟ࣎ࢵࢺᏛ఍ㄅ㸪Vol.27,No.9,(2009), pp.67-74(2) S. Hirai, and T. Wada: “Indirect SimultaneousPositioning of Deformable Objects with Multi
Pinching Fingers Based on Uncertain Model”,
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