Publications / 2003 Proceedings of the 20th ISARC, Eindhoven, Holland

Automated Handling of Construction Components Based on Parts and Packets Unification

Tomohiro Umetani, Yasushi Mae, Kenji Inoue, Tatsuo Arai, Jun-ichi Yagi
Pages 339-344 (2003 Proceedings of the 20th ISARC, Eindhoven, Holland, ISBN 978-90-6814-574-8, ISSN 2413-5844)

This paper proposes a method of pose (position and orientation) fitting of construction components in a construction site for automated handling based on the relation between components (parts) and their information (packets). Robots can acquire the required information of the component via the environmentattached storages, such as RFID devices. When an ID reader identifies an ID device, it should take some pose in its communication range. This fact may bring the idea of estimating the pose of a component that carries the device. In this idea, only single device identification cannot fix the pose of the component. We define the conditions of the ID reader and ID devices for the pose fitting, and propose a fitting method with at least two different identifications where two devices are not attached to the same plane or parallel planes of the component. Several examples of pose fitting show the feasibility of our idea.

Keywords: Automated Handling, Pose Fitting, ID devices, Radio Frequency Identification