Robotic conveyor tracking with dynamic object fetching for industrial automation

摘要

For industrial robotic applications, conveyor tracking is one of fundamental function in the robot manipulator. While the target is moving on the production line, the task becomes sophisticated problems. Thus, a distinct grasping method under visual control system is definitely one of the essential solutions. In this paper, we propose a tracking strategy on moving objects for a robot arm object fetching system combined with distinct recognition algorithm. In addition, the grasping pose of robot arm is corrected by visual feedback system. The system is separated into two parts and discussed in detail. Each part owns its core algorithm to complete industrial tracking and fetching tasks. Because of limitation from the environment, the working conditions will also be illustrated. Eye to hand and eye in hand both contribute to the visual feedback system. Grasping pose for each type of workpiece is adjusted by tracking and optimization algorithms. The result of object recognition is enhanced by visual system in determined pose and orientation. All experimental results were completed by a 7-DoFs robot arm developed in our lab at NTU.