Vision based object grasping of industrial manipulator

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

研究成果: Conference contribution

6 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題2016 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2016
發行者Institute of Electrical and Electronics Engineers Inc.
ISBN(電子)9781509051021
DOIs
出版狀態Published - 2017 三月 24
事件2016 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2016 - Taipei, Taiwan
持續時間: 2016 八月 312016 九月 2

出版系列

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

Other

Other2016 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2016
國家/地區Taiwan
城市Taipei
期間16-08-3116-09-02

All Science Journal Classification (ASJC) codes

  • 人工智慧
  • 控制和優化
  • 機械工業

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