Sökning: id:"swepub:oai:DiVA.org:kth-313210" >
Trajectory-based fa...
Trajectory-based fast ball detection and tracking for an autonomous industrial robot system
-
- AbdElKhalek, Y. M. (författare)
- KTH,Skolan för elektroteknik och datavetenskap (EECS)
-
Awad, M. I. (författare)
-
Abd El Munim, H. E. (författare)
-
visa fler...
-
Maged, S. A. (författare)
-
visa färre...
-
(creator_code:org_t)
- Inderscience Publishers, 2021
- 2021
- Engelska.
-
Ingår i: International Journal of Intelligent Systems Technologies and Applications. - : Inderscience Publishers. - 1740-8865 .- 1740-8873. ; 20:2, s. 126-145
- Relaterad länk:
-
https://urn.kb.se/re...
-
visa fler...
-
https://doi.org/10.1...
-
visa färre...
Abstract
Ämnesord
Stäng
- Autonomising industrial robots is the main goal in this paper; imagine humanoid robots that have several degrees of freedom (DOF) mechanisms as their arms. What if the humanoid's arms could be programmed to be responsive to their surrounding environment, without any hard-coding assigned? This paper presents the idea of an autonomous system, where the system observes the surrounding environment and takes action on its observation. The application here is that of rebuffing an object that is thrown towards a robotic arm's workspace. This application mimics the idea of high dynamic responsiveness of a robot's arm. This paper will present a trajectory generation framework for rebuffing incoming flying objects. The framework bases its assumptions on inputs acquired through image processing and object detection. After extensive testing, it can be said that the proposed framework managed to fulfil the real-time system requirements for this application, with an 80% successful rebuffing rate.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Materialteknik -- Annan materialteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Materials Engineering -- Other Materials Engineering (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
- NATURVETENSKAP -- Biologi -- Biokemi och molekylärbiologi (hsv//swe)
- NATURAL SCIENCES -- Biological Sciences -- Biochemistry and Molecular Biology (hsv//eng)
Nyckelord
- Depth image processing
- Infrared image processing
- Object detection
- Object tracking
- Ping-pong ball
- Real-time
- Serial robot
- Stereo vision
- Table tennis
- Trajectory prediction
- Anthropomorphic robots
- Degrees of freedom (mechanics)
- Industrial robots
- Infrared imaging
- Object recognition
- Real time systems
- Tracking (position)
- Trajectories
- Ping pong ball
- Real- time
- Serial robots
- Surrounding environment
- Table-tennis
- Trajectory-based
- Stereo image processing
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
Hitta via bibliotek
Till lärosätets databas