Nothing Special   »   [go: up one dir, main page]

Luo et al., 2015 - Google Patents

Model-based 3D object recognition and fetching by a 7-DoF robot with online obstacle avoidance for factory automation

Luo et al., 2015

Document ID
11392501531530216915
Author
Luo R
Kuo C
Chung Y
Publication year
Publication venue
2015 IEEE international conference on robotics and automation (ICRA)

External Links

Snippet

The objective of this paper is to present the model-based 3D object recognition and fetching by a 7-DoF robot with online obstacle avoidance for factory automation. The robot can fetch the random type of 3D objects with arbitrary pose using a 3D visual camera. Object …
Continue reading at ieeexplore.ieee.org (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40053—Pick 3-D object from pile of objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. micro adjustment of the end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors

Similar Documents

Publication Publication Date Title
Du et al. Markerless human–robot interface for dual robot manipulators using Kinect sensor
Vahrenkamp et al. Visual servoing for humanoid grasping and manipulation tasks
US10759051B2 (en) Architecture and methods for robotic mobile manipulation system
Surati et al. Pick and place robotic arm: a review paper
Luo et al. Model-based 3D object recognition and fetching by a 7-DoF robot with online obstacle avoidance for factory automation
Bajracharya et al. A mobile manipulation system for one-shot teaching of complex tasks in homes
US20240153314A1 (en) Engagement Detection and Attention Estimation for Human-Robot Interaction
Cong Visual servoing control of 4-DOF palletizing robotic arm for vision based sorting robot system
Iossifidis et al. Autonomous reaching and obstacle avoidance with the anthropomorphic arm of a robotic assistant using the attractor dynamics approach
Fagg et al. Extracting user intent in mixed initiative teleoperator control
Kanellakis et al. On vision enabled aerial manipulation for multirotors
Teke et al. Real-time and robust collaborative robot motion control with Microsoft Kinect® v2
Mathur et al. A review of pick and place operation using computer vision and ros
Lei et al. Unknown object grasping using force balance exploration on a partial point cloud
Luo et al. Modular ROS based autonomous mobile industrial robot system for automated intelligent manufacturing applications
Wang et al. Object Grabbing of Robotic Arm Based on OpenMV Module Positioning
Adar et al. Real time visual servoing of a 6-dof robotic arm using fuzzy-pid controller
Lu et al. Human-robot collision detection based on the improved camshift algorithm and bounding box
Sanjaya et al. Colored object sorting using 5 DoF robot arm based artificial neural network (ANN) method
Timmermann et al. AI4Assembly A Human-Robot Collaboration Assembly Application with AI Support
Sendari et al. Grasping and Repositioning Objects using Inverse Kinematic Method for Arm Robot based on Pixel Position Regression
Nishi et al. Evolvable Motion-planning Method using Deep Reinforcement Learning
Hwang et al. Real-time grasp planning based on motion field graph for human-robot cooperation
Gienger et al. Imitating object movement skills with robots—A task-level approach exploiting generalization and invariance
Linghan et al. Dogget: A legged manipulation system in human environments