Vision-based 3-D object pick-and-place tasks of industrial manipulator

摘要

When dealing with complicated tasks such as object pick-and-place, it is harder for robotic arms alone to complete them. One of the possible solutions to overcoming the aforementioned difficulties is to introduce machine vision into the robotic arm system. In this paper, the eye-to-hand camera configuration is adopted in the development of the vision-based automatic pick-and-place systems for 3-D objects. The vision-based automatic pick-and-place system developed in this paper consists of three main sections - calibration of machine vision system, object recognition, and transformations of object coordinates. Experimental results indicate that the vision-based automatic pick-and-place system developed in this paper is able to perform an automatic pick-and-place task for 3-D objects.