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Visual servoing for low-cost SCARA robots using an RGB-D camera as the only sensor (CROSBI ID 252158)

Prilog u časopisu | izvorni znanstveni rad | međunarodna recenzija

Ðurović, Petra ; Grbić, Ratko ; Cupec, Robert Visual servoing for low-cost SCARA robots using an RGB-D camera as the only sensor // Automatika : časopis za automatiku, mjerenje, elektroniku, računarstvo i komunikacije, 58 (2017), 4; 495-505. doi: 10.1080/00051144.2018.1461771

Podaci o odgovornosti

Ðurović, Petra ; Grbić, Ratko ; Cupec, Robert

engleski

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

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.

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

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Podaci o izdanju

58 (4)

2017.

495-505

objavljeno

0005-1144

10.1080/00051144.2018.1461771

Povezanost rada

Računarstvo

Poveznice
Indeksiranost