A fast pick-and-place prototype robot: design and control
This article focuses on a newly built research platform (a robot). Using its vision system, it can identify round objects that are randomly scattered on a table. Then, using its gripper they are picked and placed inside a basket. The control system is tuned such that, the succession of operations ru...
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Published in | 2016 IEEE Conference on Control Applications (CCA) pp. 1414 - 1420 |
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Main Authors | , , , , , |
Format | Conference Proceeding |
Language | English |
Published |
IEEE
01.09.2016
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Subjects | |
Online Access | Get full text |
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Summary: | This article focuses on a newly built research platform (a robot). Using its vision system, it can identify round objects that are randomly scattered on a table. Then, using its gripper they are picked and placed inside a basket. The control system is tuned such that, the succession of operations runs fast and safe. In this paper we present how this has been achieved: going from concepts to design, validation in simulation and eventually experimental validation. Lessons learned can save time for other parties interested in building prototype robots. |
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DOI: | 10.1109/CCA.2016.7588005 |