Visual guided adaptive robotic interceptions with occluded target motion estimations

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

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題IROS Hamburg 2015 - Conference Digest
主出版物子標題IEEE/RSJ International Conference on Intelligent Robots and Systems
發行者Institute of Electrical and Electronics Engineers Inc.
頁面6067-6072
頁數6
ISBN(電子)9781479999941
DOIs
出版狀態Published - 2015 十二月 11
事件IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
持續時間: 2015 九月 282015 十月 2

出版系列

名字IEEE International Conference on Intelligent Robots and Systems
2015-December
ISSN(列印)2153-0858
ISSN(電子)2153-0866

Other

OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
國家/地區Germany
城市Hamburg
期間15-09-2815-10-02

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 軟體
  • 電腦視覺和模式識別
  • 電腦科學應用

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