Visual Object Tracking and Interception in Industrial Settings
نویسنده
چکیده
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. Keywords—Object recognition, rendezvous planning, robotics.
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