Object Manipulation Using Kinect as the 3D Sensor
ndustrial robot can extend its capability adopting sensors such as camera and laser range finder. In this paper, we deal with object manipulation including grasping objects on the table and inserting them into the hole on the vertical plane. Kinect is used as the 3D sensor. First, object location an...
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| Veröffentlicht in: | Applied Mechanics and Materials 2013-09, Vol.432, p.437-441 |
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| container_title | Applied Mechanics and Materials |
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| creator | Ha, Jong Eun Kim, Dong Whan |
| description | ndustrial robot can extend its capability adopting sensors such as camera and laser range finder. In this paper, we deal with object manipulation including grasping objects on the table and inserting them into the hole on the vertical plane. Kinect is used as the 3D sensor. First, object location and target location is computed after processing 3D data. Robot motion obtained by solving inverse kinematics can have errors so that we adopt visual feedback style approach. Chessboard type marker is attached on the end-effector of the robot and its location with respect to the target is used to correct the robot motion. |
| doi_str_mv | 10.4028/www.scientific.net/AMM.432.437 |
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| title | Object Manipulation Using Kinect as the 3D Sensor |
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