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Pregled bibliografske jedinice broj: 942613

Visual servoing for low-cost SCARA robots using an RGB-D camera as the only sensor


Ðurović, Petra; Grbić, Ratko; Cupec, Robert
Visual servoing for low-cost SCARA robots using an RGB-D camera as the only sensor // Automatika, 58 (2017), 4; 495-505 doi:10.1080/00051144.2018.1461771 (međunarodna recenzija, članak, znanstveni)


Naslov
Visual servoing for low-cost SCARA robots using an RGB-D camera as the only sensor

Autori
Ðurović, Petra ; Grbić, Ratko ; Cupec, Robert

Izvornik
Automatika (0005-1144) 58 (2017), 4; 495-505

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
Visual servoing, hand–eye calibration, grasp planning, SCARA, low-cost robot arm

Sažetak
Visual servoing with a simple, two-step hand– eye calibration for robot arms in Selective Compliance Assembly Robot Arm configuration, along with the method for simple vision-based grasp planning, is proposed. The proposed approach is designed for low-cost, vision- guided robots, where tool positioning is achieved by visual servoing using marker tracking and depth information provided by an RGB-D camera, without encoders or any other sensors. The calibration is based on identification of the dominant horizontal plane in the camera field of view, and an assumption that all robot axes are perpendicular to the identified plane. Along with the plane parameters, one rotational movement of the shoulder joint provides sufficient information for visual servoing. The grasp planning is based on bounding boxes of simple objects detected in the RGB-D image, which provide sufficient information for robot tool positioning, gripper orientation and opening width. The developed methods are experimentally tested using a real robot arm. The accuracy of the proposed approach is analysed by measuring the positioning accuracy as well as by performing grasping experiments.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo



POVEZANOST RADA


Projekt / tema
HRZZ-IP-2014-09-3155 - Napredna 3D percepcija za mobilne robotske manipulatore (Robert Cupec, )

Ustanove
Fakultet elektrotehnike, računarstva i informacijskih tehnologija Osijek

Časopis indeksira:


  • Web of Science Core Collection (WoSCC)
    • Science Citation Index Expanded (SCI-EXP)
    • SCI-EXP, SSCI i/ili A&HCI
  • Scopus


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