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A real time gripper selection system for a manipulator using stereo vision.
| Content Provider | CiteSeerX |
|---|---|
| Author | Ovinis, Mark Basah, Shafriza Nisha Rasydan, Tengku Adnan, Tengku Azman, Mior Said, Meor See, Samuel Kooi, Gin |
| Abstract | Abstract- The current gripper selection process is not automated and requires prior knowledge of the object to be grasped. In this paper, we present the architecture and the implementation of a system for real time selection of a gripper by a manipulator using stereo vision. Stereo vision was used for object recognition as the gripper selection was based on the shape of the object to be grasped. An experiment was designed to determine the functionality of the system. A KUKA KR3 manipulator and three objects: a cube, pyramid and sphere were used in an experiment. The system was able to correctly identify the objects and select a suitable gripper in real time. A real time gripper selection system for a manipulator using stereo vision was implemented. |
| File Format | |
| Publisher Institution | Universiti Teknologi Petronas |
| Access Restriction | Open |
| Subject Keyword | Stereo Vision Real Time Gripper Selection System Current Gripper Selection Process Suitable Gripper Gripper Selection Object Recognition Prior Knowledge Kuka Kr3 Manipulator Real Time Selection Real Time |
| Content Type | Text |
| Resource Type | Article |
