Conference paper
Visual Servoing for Object Manipulation: A Case Study in Slaughterhouse
Automation for slaughterhouse challenges the design of the control system due to the variety of the objects. Realtime sensing provides instantaneous information about each piece of work and thus, is useful for robotic system developed for slaughterhouse. In this work, a pick and place task which is a common task among tasks in slaughterhouse is selected as the scenario for the system demonstration.
A vision system is utilized to grab the current information of the object, including position and orientation. The information about the object is then transferred to the robot side for path planning. An online and offline combined path planning algorithm is proposed to generate the desired path for the robot control.
An industrial robot arm is applied to execute the path. The system is implemented for a lab-scale experiment, and the results show a high success rate of object manipulation in the pick and place task. The approach is implemented in ROS which allows utilization of the developed algorithm on different platforms with little extra effort.
Language: | English |
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Publisher: | IEEE |
Year: | 2016 |
Pages: | 1-6 |
Proceedings: | 2016 14th International Conference on Control, Automation, Robotics and Vision |
ISBN: | 1509035494 , 1509035508 , 9781509035496 , 9781509035502 , 1509047573 and 9781509047574 |
Types: | Conference paper |
DOI: | 10.1109/ICARCV.2016.7838841 |
ORCIDs: | Andersen, Thomas Timm , Andersen, Nils Axel and Ravn, Ole |
ROS control system design control system synthesis dexterous manipulators factory automation food processing industry industrial manipulators object detection object information object manipulation online offline combined path planning path planning pick and place task realtime sensing robot vision robotic system slaughterhouse automation vision system visual servoing