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Grasping and Positioning Tasks for Selective Compliant Articulated Robotic Arm using Object Detection and Localization: Preliminary Results

Farag, Mohannad and Abdul Nasir, Abd Ghafar and Alsibai, Mohammed Hayyan (2019) Grasping and Positioning Tasks for Selective Compliant Articulated Robotic Arm using Object Detection and Localization: Preliminary Results. In: IEEE 6th International Conference on Electrical and Electronics Engineering (ICEEE 2019), 16-17 April 2019 , Istanbul, Turkey. pp. 284-288.. ISBN 978-1-7281-3910-4

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Abstract

Vision guided robots have more ability, functionality and adaptivity in industrial assembly lines than normal robots. This research attempts to increase the impact of computer vision on robotic positioning and grasping applications. Therefore, we addressed object detection and localization to perform robotic grasping and positioning using Selective Compliant Assembly Robot Arm (SCARA). The target position of SCARA robot is determined based on information obtained from object detection and position measurement process. This process is implemented on a circular object to simplify the task. For accurate position measurement, the distortion of camera lens is removed using camera calibration technique. In object detection, several methods are compared to detect circular holes in an input image. The most successful methods with 100% Precision, Recall and F-measure are used to detect the circular object. The position of this object is measured in world coordinate unit for pick-and-place operation. Then, the experiment is designed to move SCARA robot to the measured position of the detected circular object. The result showed that the robot is successfully moved to the measured position of the detected object with average positioning error (0.314, 0.155) mm

Item Type: Conference or Workshop Item (Lecture)
Additional Information: Indexed by SCOPUS
Uncontrolled Keywords: Object detection; object localization; edge detection; robotic arm; robot positioning, robot grasping
Subjects: T Technology > T Technology (General)
Faculty/Division: Faculty of Engineering Technology
Institute of Postgraduate Studies
Depositing User: Noorul Farina Arifin
Date Deposited: 27 May 2019 03:29
Last Modified: 04 Sep 2019 02:47
URI: http://umpir.ump.edu.my/id/eprint/25000
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