Visual guided adaptive robotic interceptions with occluded target motion estimations

Yushing Cheung, Ya Ting Huang, James Jenn-Jier Lien

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

Abstract

To increase an industrial production rate in a robotic operation, automated assembly tasks on production lines require the operation being performed while a target is still moving. Due to complicated factory environments and missions, unexpected vision occlusion, switching grippers, and grasping the target in motion are demanded. Therefore, a vision guided robotic system consisting of a joint space adaptive controller and a visual target motion estimator is proposed. With the visual target motion estimator, current target velocities and positions are estimated. Regarding the current target velocities and positions, desired robotic joint velocities and positions are computed even if vision is occluded. Moreover, by tracking the desired joint velocities and positions with the adaptive controller, a robotic end-effector is controlled to catch the target even if target and gripper parameters are uncertain. In experiments, grasping the moving target at different speeds with the different grippers for different lengths of occlusion time by using our proposed system were presented for performance evaluations according to its efficiency and robustness.

Original languageEnglish
Title of host publicationIROS Hamburg 2015 - Conference Digest
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6067-6072
Number of pages6
ISBN (Electronic)9781479999941
DOIs
Publication statusPublished - 2015 Dec 11
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: 2015 Sep 282015 Oct 2

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2015-December
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
CountryGermany
CityHamburg
Period15-09-2815-10-02

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Cheung, Y., Huang, Y. T., & Lien, J. J-J. (2015). Visual guided adaptive robotic interceptions with occluded target motion estimations. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 6067-6072). [7354241] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7354241