Research Information System
Conference of the World-Academy-of-Science-Engineering-and-Technology, Tokyo, Japan, 25 - 27 November 2005, vol.9, pp.86-90
This paper presents a solution for a robotic manipulation problem. We formulate the problem as combining target identification, tracking and interception. The task in our solution is sensing a target on a conveyor belt and then intercepting robot's end-effector at a convenient rendezvous point. We used an object recognition method which identifies the target and finds its position from visualized scene picture, then the robot system generates a solution for rendezvous problem using the target's initial position and belt velocity. The interception of the target and the end-effector is executed at a convenient rendezvous point along the target's calculated trajectory. Experimental results are obtained using a real platform with an industrial robot and a vision system over it.