Vision based object grasping of industrial manipulator

Chieh Chun Lin, Pablo Gonzalez, Ming-Yang Cheng, Guor Yieh Luo, Tzu Yang Kao

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In many industry applications, industrial manipulators are frequently used to perform repetitive missions such as pick-and-place tasks for packing and placing objects. In general, the position information is essential when performing pick-and-place tasks. One way to obtain position information is to exploit computer vision techniques to retrieve 3D position information of objects through object images. Therefore, the relationship between object images and 3D positions of objects, and the relationship between object poses and object grasping methods are important research topics deserving more investigations. As a result, this paper focuses on research topics related to vision based object grasping of industrial manipulators, including object pose estimation, hand-eye calibration and coordinate transformation. In this paper, an eye-to-hand stereo camera system is used to retrieve object's 3D position information that is needed in pick-and-place tasks performed by an industrial manipulator. Experimental results indicate that an industrial manipulator equipped with the developed vision system can successfully perform automatic pick-and-place tasks.

Original languageEnglish
Title of host publication2016 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781509051021
DOIs
Publication statusPublished - 2017 Mar 24
Event2016 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2016 - Taipei, Taiwan
Duration: 2016 Aug 312016 Sep 2

Publication series

Name2016 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2016

Other

Other2016 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2016
CountryTaiwan
CityTaipei
Period16-08-3116-09-02

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Optimization
  • Mechanical Engineering

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  • Cite this

    Lin, C. C., Gonzalez, P., Cheng, M-Y., Luo, G. Y., & Kao, T. Y. (2017). Vision based object grasping of industrial manipulator. In 2016 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2016 [7886613] (2016 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ARIS.2016.7886613