| Title: | GS8-1 Visual-servo Control of 4-DOF Robot Manipulator for Sorting Moving objects |
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| Publication: | ICAROB2016 |
| Volume: | 21 |
| Pages: | 72-75 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2016.GS8-1 |
| Author(s): | Longtan Wang, Seon-Woo Kim, Hyun-Wook Ha, Jang-Myung Lee |
| Publication Date: | January 29, 2016 |
| Keywords: | Robot, Adaptive thresholding, Topological Structure Analysis, Rotating calipers |
| Abstract: | This paper considers the problem of estimating position and determining class of objects on the moving conveyor belt. A 2D camera is utilized to capture the image of moving objects. The control system directly integrates visual data into the servoing process. Objects are recognized by firstly removing the background using adaptive thresholding algorithm, then find objects outer contours and determine the size and shape by topological structure analysis tracking boards, then Rotating calipers algorithm is adopted to estimate the centroid position and orientation of the objects. Finally control the robot manipulator pick different moving objects to different position. The proposed system is able to control the robot so that it can approach the desired position and grab the specific object. |
| PDF File: | https://alife-robotics.co.jp/members2016/icarob/data/papers/GS/GS8-1.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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