A proposal of decontamination robot using 3D hand-eye-dual-cameras solid recognition and accuracy validation

Abstract

New robotic system that uses three dimensional measurement with solid object recognition—3D-MOS (Three Dimensional Move on Sensing)—based on visual servoing technology was designed and the on-board hand-eye-dual-cameras robot system has been developed to reduce risks of radiation exposure during decontamination processes by filter press machine that solidifies and reduces the volume of irradiation contaminated soil. The feature of 3D-MoS includes; (1)the both hand-eye-dual-cameras take the images of target object near the intersection of both lenses' centerlines, (2) the observation at intersection enables both cameras can see target object almost at the center of both images, (3) then it brings benefits as reducing the effect of lens aberration and improving the detection accuracy of three dimensional position. In this study, accuracy validation test of interdigitation of the robot's hand into filter cloth rod of the filter press—the task is crucial for the robot to remove the contaminated cloth from the filter press machine automatically and for preventing workers from exposing to radiation—, was performed. Then the following results were derived; (1) the 3D-MoS controlled robot could recognize the rod at arbitrary position within designated space, and all of insertion test were carried out successfully and, (2) test results also demonstrated that the proposed control guarantees that interdigitation clearance between the rod and robot hand can be kept within 1.875[mm] with standard deviation being 0.6[mm] or less.

Keywords

• interdigitation
• three dimensional move on sensing (3d-mos)
• manipulation
• filter press
• contaminated soil
• volume reduction