In this paper we present an automated system that is able to track and grasp a moving object within the workspace of a manipulator using range images acquired with a Microsoft Kinect sensor Realtime tracking is achieved by a geometric particle filter on the affine group Based on the tracked output, the pose of a 7-DoF WAM robotic arm is continuously updated using dynamic motor primitives until a distance measure between the tracked object and the gripper mounted on the arm is below a threshold Then, it closes its three fingers and grasps the object The tracker works in real-time and is robust to noise and partial occlusions Using only the depth data makes our tracker independent of texture which is one of the key design goals in our approach An experimental evaluation is provided along with a comparison of the proposed tracker with state-of-the-art approaches, including the OpenNI-tracker The developed system is integrated with ROS and made available as part of IRI's ROS stack

/pdf/realtime-tracking-and-grasping-of-a-moving-object-from-range-3u9nwze754.pdf

Realtime tracking and grasping of a moving object from range video

This paper provides a minimum time algorithm to intercept an object on the conveyor belt by robotic manipulator. The goal is that the robot is able to intercept objects on a conveyor line moving at a given speed in minimum time. In order to formulate the problem, we introduce the robot and object arrival time functions, and conclude that the optimal point occurs at the intersection of these two functions. The search algorithm for finding the intersection point between the robot and object arrival time functions are also presented to find the optimal point in real-time.

Minimum-Time Algorithm For Intercepting An Object On The Conveyor Belt By Robot

Purpose – The purpose of this paper is to provide a minimum time algorithm to intercept an object on a conveyor belt by a robotic manipulator. The goal is that the robot is able to intercept objects on a conveyor line moving at a given speed in minimum time.Design/methodology/approach – In order to formulate the problem, the robot and object‐arrival time functions were introduced, and conclude that the optimal point occurs at the intersection of these two functions. The search algorithm for finding the intersection point between the robot and object arrival time functions are also presented to find the optimal point in real‐time.Findings – Simulation results show that the presented algorithm is well established for various initial robot positions.Practical implications – A trapezoidal velocity profile was employed which is used in many industrial robots currently in use. Thus, it is believed that robot travel time algorithm is readily implemented for any commercially available robots.Originality/value – T...

A minimum‐time algorithm for intercepting an object on a conveyor belt

This paper deals with the problem of sensor guided grasping of moving objects. The nonlinear time optimal controller for the manipulators is presented. The inputs for the controller are parameters of the objects movement variables - position, velocity and acceleration - which are usually determined online by a sensor system. The time optimal refers to the grasping conditions-equivalence of the position, orientation and velocity of TCP and the object will be satisfied in the shortest possible time subject to all movement constrains of the manipulator joints like the maximal possible angle, velocity and acceleration.

Time optimal manipulator control for sensor guided grasping of moving objects

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Time optimal manipulator control for sensor guided grasping of moving objects