Display and Disposal Work Using an Electromagnet Hand and Magnetic Markers

Product display using a electromagnets hand and a magnetic marker is proposed. The electromagnet marker places two magnets on left and right side of the QR code. The two magnets are arranged with reversed S-N poles and are attached to the front and rear surfaces of the product so that the magnets are attracted in the correct combination when the product is aligned. The magnetic markers are also attached to the top surface of the product for gripping from the top surface, and only QR codes for posture recognition are attached to the left and right sides of the product. By using magnetic markers, magnets are attracted to each other when displaying on the shelf, enabling accurate align from the front stopper on the display. In addition, the attraction of the magnets has the advantage of making the markers more robust to positioning errors during product grasping and display. The three main movements of grasping a product using an electromagnet hand are: pick-and-place operation by grasping the electromagnet marker on the top surface of the product, turning to the standing position when it has lain, and reversing the holding posture from front to back corresponding to the workspace of the manipulator. Manipulation motion for the product with magnetic markers using the proposed electromagnet hand were implemented to the 6DOF robot arm UR-5 to confirm its effectiveness.