Vision-based 3-D object pick-And-place tasks of industrial manipulator

Guor Yieh Luo; Ming Yang Cheng; Chia Ling Chiang

doi:10.1109/CACS.2017.8284250

Vision-based 3-D object pick-And-place tasks of industrial manipulator

Guor Yieh Luo, Ming Yang Cheng, Chia Ling Chiang

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

When dealing with complicated tasks such as object pick-And-place, it is harder for robotic arms alone to complete them. One of the possible solutions to overcoming the aforementioned difficulties is to introduce machine vision into the robotic arm system. In this paper, the eye-To-hand camera configuration is adopted in the development of the vision-based automatic pick-And-place systems for 3-D objects. The visionbased automatic pick-And-place system developed in this paper consists of three main sections-calibration of machine vision system, object recognition, and transformations of object coordinates. Experimental results indicate that the vision-based automatic pick-And-place system developed in this paper is able to perform an automatic pick-And-place task for 3-D objects.

Original language	English
Title of host publication	2017 International Automatic Control Conference, CACS 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1-7
Number of pages	7
ISBN (Electronic)	9781538639009
DOIs	https://doi.org/10.1109/CACS.2017.8284250
Publication status	Published - 2018 Feb 7
Event	2017 International Automatic Control Conference, CACS 2017 - Pingtung, Taiwan Duration: 2017 Nov 12 → 2017 Nov 15

Publication series

Name	2017 International Automatic Control Conference, CACS 2017
Volume	2017-November

Other

Other	2017 International Automatic Control Conference, CACS 2017
Country	Taiwan
City	Pingtung
Period	17-11-12 → 17-11-15

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Control and Optimization

Access to Document

10.1109/CACS.2017.8284250

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Luo, G. Y., Cheng, M. Y., & Chiang, C. L. (2018). Vision-based 3-D object pick-And-place tasks of industrial manipulator. In 2017 International Automatic Control Conference, CACS 2017 (pp. 1-7). (2017 International Automatic Control Conference, CACS 2017; Vol. 2017-November). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CACS.2017.8284250

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abstract = "When dealing with complicated tasks such as object pick-And-place, it is harder for robotic arms alone to complete them. One of the possible solutions to overcoming the aforementioned difficulties is to introduce machine vision into the robotic arm system. In this paper, the eye-To-hand camera configuration is adopted in the development of the vision-based automatic pick-And-place systems for 3-D objects. The visionbased automatic pick-And-place system developed in this paper consists of three main sections-calibration of machine vision system, object recognition, and transformations of object coordinates. Experimental results indicate that the vision-based automatic pick-And-place system developed in this paper is able to perform an automatic pick-And-place task for 3-D objects.",

author = "Luo, {Guor Yieh} and Cheng, {Ming Yang} and Chiang, {Chia Ling}",

note = "Funding Information: The authors would like to thank the Ministry of Science and Technology, Taiwan, under Grant Nos. MOST 103-2221-E-006-185-MY2 and Catcher technology CO., LTD. for their financial support of this research.; 2017 International Automatic Control Conference, CACS 2017 ; Conference date: 12-11-2017 Through 15-11-2017",

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Luo, GY, Cheng, MY & Chiang, CL 2018, Vision-based 3-D object pick-And-place tasks of industrial manipulator. in 2017 International Automatic Control Conference, CACS 2017. 2017 International Automatic Control Conference, CACS 2017, vol. 2017-November, Institute of Electrical and Electronics Engineers Inc., pp. 1-7, 2017 International Automatic Control Conference, CACS 2017, Pingtung, Taiwan, 17-11-12. https://doi.org/10.1109/CACS.2017.8284250

Vision-based 3-D object pick-And-place tasks of industrial manipulator. / Luo, Guor Yieh; Cheng, Ming Yang; Chiang, Chia Ling.

2017 International Automatic Control Conference, CACS 2017. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1-7 (2017 International Automatic Control Conference, CACS 2017; Vol. 2017-November).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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