NDLI: Collision-free manipulation of a robotic arm using the MS Windows Kinect 3D optical system

Content Provider	IEEE Xplore Digital Library
Author	Vachalek, J. Capucha, L. Krasnansky, P. Toth, F.
Copyright Year	2015
Description	Author affiliation: Fac. of Mech. Eng., Slovak Univ. of Technol. in Bratislava, Bratislava, Slovakia (Vachalek, J.; Capucha, L.; Krasnansky, P.; Toth, F.)
Abstract	This article presents the collision-free manipulation of a robotic arm mounted to a mobile robotic unit, using the MS Windows Kinect 3D optical camera system. The 3D optical system is used to recognize objects, aiding the collision-free manipulation of the said objects with the arm of a mobile robotic system (MRS). The placement of the optical system directly on the robotic arm is essential to ensure the autonomy of the overall system. The MRS is able to recognize pre-defined objects in three dimensional space and approach and manipulate these automatically using its robotic arm. The aim of this article is to present the algorithms used in the mobile robot to guarantee the collision-free manipulation of the MRS with objects. The novelty of our approach lies in the a priori collision avoidance strategy, instead of solving collision states as they occur. In addition to this, the article presents the localization of objects in space. For this, randomly placed balls are localized by the MRS, estimating their real coordinates. Instead of using the standard RGB colorspace, we propose to utilize the HSV colorspace to assess object coordinates, since it provides more consistent results in case the ambient lightning intensity varies.
Starting Page	96
Ending Page	106
File Size	1487728
Page Count	11
File Format	PDF
ISBN	9781467366274
DOI	10.1109/PC.2015.7169945
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-06-09
Publisher Place	Slovakia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Collision-free manipulation RGB colorspace HSV colorspace Robotic arm Three-dimensional displays 3D optical camera system Service robots Robot kinematics Robot sensing systems MS Windows Kinect Mobile robot Collision avoidance Joints
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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