Real-time vision-based grasping randomly placed object by low-cost robotic arm using surf algorithm

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dc.contributor.authorBeyhan, Ayberk
dc.contributor.authorAdar, Nurettin Gökhan
dc.date.accessioned2021-03-20T20:26:59Z
dc.date.available2021-03-20T20:26:59Z
dc.date.issued2020
dc.departmentBTÜ, Mühendislik ve Doğa Bilimleri Fakültesi, Mekatronik Mühendisliği Bölümüen_US
dc.description2020 7th International Conference on Mechanics and Mechatronics Research, ICMMR 2020 -- 27 June 2020 through 29 June 2020 -- -- 164364en_US
dc.description.abstractVision-Based Manipulation is popular and still have open issues in robotics. The camera is a very important part of this method to obtain desired data with image processing techniques. In this study, the Dynamic position-based look and move method was selected to control the 4 DOF robotic arm. For this method, the Kinect camera was used for image processing. Kinect is a special camera which consists of both RGB and infrared camera. SURF algorithm was selected to detect a target object from the target scene using Kinect RGB camera. 3-D target object localization was calculated using Kinect infrared camera with the point cloud. The obtained target object's location is according to the camera and transformed according to the robotic arm base. Using inverse kinematics, desired joint angles were calculated according to the object position. Therefore, the robot is provided to make the desired motion and grasping the object by using gripper. Real-time implementation of the proposed method is carried out using Matlab-Simulink. © 2020 Institute of Physics Publishing. All rights reserved.en_US
dc.description.sponsorship191N008en_US
dc.description.sponsorshipThis work was supported by the Scientific Research Projects Coordination Unit of Bursa Technical University. Project number: 191N008.en_US
dc.identifier.doi10.1088/1757-899X/938/1/012008en_US
dc.identifier.issn1757-8981
dc.identifier.issue1en_US
dc.identifier.scopus2-s2.0-85097485614en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.urihttp://doi.org/10.1088/1757-899X/938/1/012008
dc.identifier.urihttps://hdl.handle.net/20.500.12885/1383
dc.identifier.volume938en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.institutionauthorBeyhan, Ayberk
dc.language.isoenen_US
dc.publisherIOP Publishing Ltden_US
dc.relation.ispartofIOP Conference Series: Materials Science and Engineeringen_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subject[No Kerywords]en_US
dc.titleReal-time vision-based grasping randomly placed object by low-cost robotic arm using surf algorithmen_US
dc.typeConference Objecten_US

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