In this paper, a solution is presented for a robotic manipulation problem in industrial settings. The problem is sensing objects on a conveyor belt, identifying the target, planning and tracking an interception trajectory between end effector and the target. Such a problem could be formulated as combining object recognition, tracking and interception. For this purpose, we integrated a vision system to the manipulation system and employed tracking algorithms. The control approach is implemented on a real industrial manipulation setting, which consists of a conveyor belt, objects moving on it, a robotic manipulator, and a visual sensor above the conveyor. The trjectory for robotic interception at a rendezvous point on the conveyor belt is analytically calculated. Test results show that tracking the raget along this trajectory results in interception and grabbing of the target object.
Vision Based Robotic Interception in Industrial Manipulation Tasks
2007-12-21
oai:zenodo.org:1075830
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Parameter Estimation for Deformable Objects in Robotic Manipulation Tasks
Springer Verlag | 2023
|Vision based virtual fixture generation for teleoperated robotic manipulation
BASE | 2016
|A review on reinforcement learning for contact-rich robotic manipulation tasks
BASE | 2022
|A review on reinforcement learning for contact-rich robotic manipulation tasks
BASE | 2023
|Soft Tissue Simulation Environment to Learn Manipulation Tasks in Autonomous Robotic Surgery
BASE | 2020
|