Vision based object detection and manipulation by four DoF robotic manipulator

In various applications of industrial automation, exploration, home care, military, and space applications it is desirable for a robotic system to manipulate objects autonomously, without a human intervention. The task involved in such applications is to detect the positon, orientation & depth o

Project Title

Vision based object detection and manipulation by four DoF robotic manipulator

Project Area of Specialization

Robotics

Project Summary

In various applications of industrial automation, exploration, home care, military, and space applications it is desirable for a robotic system to manipulate objects autonomously, without a human intervention. The task involved in such applications is to detect the positon, orientation & depth of a specific object so that it can be grasped and manipulated.

               This project is aiming to develop an integrated system where vision based object detection will be made. The object will then be manipulated by a 4 Degree of Freedom (DoF) robot manipulator based on a given desired task. It will be assumed that the task will require the robot to manipulate an object which is placed randomly at random location in the workspace of a manipulator. The system should able to not only detect the object presence but also it should have the ability to compute the object location and orientation so that it can be grasped by the manipulator. Once this is done, then system should able to compute the solution of inverse kinematics for a 4 DoF manipulator to a given task. Which in turn will required to compute manipulator trajectories starting from the initial position to the goal position.

Project Objectives

• To develop a vision based detection algorithm for randomly placed object.
• To develop an algorithm to compute inverse kinematic problem automatically.
• To develop a motion planning algorithm for 4 DoF robot to manipulate the detected object according to a given task.

To test the developed algorithms through simulations and implement it on an integrated robotic system

Project Implementation Method

Objection Detection will be made by Vision detection methods using stereo camera. Once the object position and orientation is being calculated, the desired joints angle solution can be computed either by solving inverse kinematics problem. The trajectory of robot than be computed from manipulators initial position to the solution, through numerical methods like RRT Algorithms. This project will use a manipulator having DoF equal to or greater than 4. Once the solution have been computed it will be communicated to controller over a wireless medium which will be in turn responsible for control the gait of the manipulator.

Benefits of the Project

This project has huge applications is vast verity of fields, for example:

• In military where the robotic system can be used to grasp dangerous/Suspected package and manipulate it to other area.
• In disaster situation where human cannot be send in to building to remove the hazardous objects/materials, such autonomous robotic manipulator can be send in to deal with such situations.  
• In industries where robot manipulators are used for the purpose of welding, painting, packaging and etc.

Technical Details of Final Deliverable

An integrated system robotic system will be delivered. In which stereo camera will be used to compute the position, orientation and depth calculation of an object. The camera will be connected to a computer which will be running the algorithm for object detection and for planning motion for a robotic manipulator. The computer will be wirelessly connected to the robotic Manipulator for receiving feedback from the manipulator and send command to it. The object will be manipulated using 4 DoF robot manipulator.   

Final Deliverable of the Project

HW/SW integrated system

Core Industry

Manufacturing

Other Industries

Others

Core Technology

Robotics

Other Technologies

Others

Sustainable Development Goals

Industry, Innovation and Infrastructure

Required Resources

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