Real Time Application for Automatic Object and 3D Position Detection and Sorting with Robotic Manipulator
Open accessAbstract
This work deals with the likelihood of merging a 3D sensor into a robotic manipulator, with an objective to automatically detect, track and grasp an object, placing it in another location. To enhance the flexibility and easy functionality of the robot, MATLAB, a versatile and powerful programming language is used to control the robot. For this work, a common industrial task in many factories of pick and place is implemented. A robotic system consisting of an ABB IRB120 robot equipped with a gripper and a 3D Kinect for Windows camera sensor is used. The three-dimensional data acquisition, image processing and some different parameters of the camera are investigated. The information in the image acquired from the camera is used to determine the robot’s working space and to recognize workpieces. This information is then used to calculate the position of the objects. Using this information, an automatic path to grasp an object was designed and developed to compute the possible trajectory to an object in real time. To be able to detect the workpieces, object recognition techniques are applied using available algorithms in MATLAB’s Computer Vision Toolbox and Image Acquisition Toolbox. These give information about the position of the object of interest and its orientation. The information is therefore sent to the robot to create a path through a server-to-client connection over a computer network in real time.
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
Kinect could distinguish colour correctly, and the robot could accurately navigate to the detected object.
“Kinect could distinguish colour correctly, and the robot could accurately navigate to the detected object.”
From Advanced Applications of Industrial Robotics: New Trends and Possibilities (2021) · cites this paper as [82]
The Abstract (page not provided) describes using a Kinect camera to locate objects and calculate a path for the robot to grasp them. It does not report that the Kinect distinguished colours correctly or that the robot navigated to detected objects accurately. (LLM, conf=0.82)
Experimental — accuracy not yet measuredExperiments in path planning and optimisation have been conducted for automatic object and 3D position detection, quasi-static path optimisation, image analysis, path smoothing, BIM, and accurate self-localisation in harsh industrial environments.
“In the area of path planning and optimisation, experiments have been conducted for automatic object and 3D position detection [82] quasi-static path optimisation [83], image analysis [84], path smoothing [85], BIM [86], and accurate self-localisation in harsh industrial environments [80,81].”
From Advanced Applications of Industrial Robotics: New Trends and Possibilities (2021) · cites this paper as [82]
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Cites
No references could be resolved yet.
Research works printed but not linked: 8
- [1][1] J. Hill and W. Park, "Real time control of a robot with a mobile camera," 9th International Symposium on Industrial Robots, p. 233–246, 1979.
- [2][2] K. Rezaie, S. Nazari Shirkouhi, and S.M. Alem, "Evaluating and selecting flexible manufacturing systems by integrating data envelopment analysis and analytical hierarchy process model," Asia International Conference on Modelling and Simulation, pp. 460–464,, 2009.
- [4][4] Hutchinson, F. and Chaumette, S., "Visual servo control basic approaches," Robotics & Automation Magazine, IEEE, vol. 13, pp. 82-90, 2006.
- [5][5] F. C. S. Hutchinson, "Visual servo control. ii. advanced approaches [tutorial]," Robotics & Automation Magazine, IEEE, vol. 14, p. 109–118, 2007.
- [6][6] D. Kragic, and H. I. Christensen, "Survey on visual servoing for manipulation," Computational Vision and Active Perception Laboratory Fiskartorpsv, vol. 15,, 2002.
- [7][7] H. Wu, W. Tizzano, T. Andersen, N. Andersen, and O. Ravn, "Hand-Eye Calibration and Inverse Kinematics of Robot Arm using Neural Network," Springer, p. 581–591, 2013.
- [8][8] H. Wu, L. Lu, C.-C. Chen, S. Hirche, and K. Khnlenz, "Cloud-based networked visual servo control," I E E E Transactions on Industrial Electronics, vol. 60, no 2, pp. 554 – 566,, 2013.
- [13][13] N. B. Fernández, "“Generación de trayectorias y evitación de obstáculos para el robot IRB120 en entorno Matlab”," UNIVERSIDAD DE ALCALÁ, p. 47, 2015. Details Primary Language English Subjects Electrical Engineering Journal Section Research Article Authors Tichaona Jonathan Makomo * 0000-0002-9860-6179 Zimbabwe Kenan Erin 0000-0003-4714-1161 Türkiye Barış Boru 0000-0002-0993-3187 Türkiye Publication Date August 1, 2020 Submission Date December 5, 2019 Acceptance Date May 24, 2020 Published in Issue Year 2020 Volume: 24 Number: 4 DOI https://doi.org/10.16984/saufenbilder.655716 IZ https://izlik.org/JA82RH24RG Cite RIS / Bibtex APA Makomo, T. J., Erin, K., & Boru, B. (2020). Real Time Application for Automatic Object and 3D Position Detection and Sorting with Robotic Manipulator. Sakarya University Journal of Science, 24(4), 703-711. https://doi.org/10.16984/saufenbilder.655716 AMA 1.Makomo TJ, Erin K, Boru B. Real Time Application for Automatic Object and 3D Position Detection and Sorting with Robotic Manipulator. SAUJS. 2020;24(4):703-711. doi:10.16984/saufenbilder.655716 Chicago Makomo, Tichaona Jonathan, Kenan Erin, and Barış Boru. 2020. “Real Time Application for Automatic Object and 3D Position Detection and Sorting With Robotic Manipulator”. Sakarya University Journal of Science 24 (4): 703-11. https://doi.org/10.16984/saufenbilder.655716. EndNote Makomo TJ, Erin K, Boru B (August 1, 2020) Real Time Application for Automatic Object and 3D Position Detection and Sorting with Robotic Manipulator. Sakarya University Journal of Science 24 4 703–711. IEEE [1]T. J. Makomo, K. Erin, and B. Boru, “Real Time Application for Automatic Object and 3D Position Detection and Sorting with Robotic Manipulator”, SAUJS, vol. 24, no. 4, pp. 703–711, Aug. 2020, doi: 10.16984/saufenbilder.655716. ISNAD Makomo, Tichaona Jonathan - Erin, Kenan - Boru, Barış. “Real Time Application for Automatic Object and 3D Position Detection and Sorting With Robotic Manipulator”. Sakarya University Journal of Science 24/4 (August 1, 2020): 703-711. https://doi.org/10.16984/saufenbilder.655716. JAMA 1.Makomo TJ, Erin K, Boru B. Real Time Application for Automatic Object and 3D Position Detection and Sorting with Robotic Manipulator. SAUJS. 2020;24:703–711. MLA Makomo, Tichaona Jonathan, et al. “Real Time Application for Automatic Object and 3D Position Detection and Sorting With Robotic Manipulator”. Sakarya University Journal of Science, vol. 24, no. 4, Aug. 2020, pp. 703-11, doi:10.16984/saufenbilder.655716. Vancouver 1.Tichaona Jonathan Makomo, Kenan Erin, Barış Boru. Real Time Application for Automatic Object and 3D Position Detection and Sorting with Robotic Manipulator. SAUJS. 2020 Aug. 1;24(4):703-11. doi:10.16984/saufenbilder.655716 Cited By Advanced Applications of Industrial Robotics: New Trends and Possibilities Applied Sciences https://doi.org/10.3390/app12010135 Add To My Library Create Research · DOI · Paper page
Cited by
Sorted by citations
Advanced Applications of Industrial Robotics: New Trends and Possibilities
Dzedzickis, A., Subačiūtė-Žemaitienė, J., Šutinys, E., Samukaitė-Bubnienė, U., & Bučinskas, V. (2021) · Applied Sciences · doi:10.3390/app12010135 · Cited by 228 · see citing works
- Authors
- MAKOMO, T. J., ERİN, K., & BORU, B.
- Affiliations
- Sakarya University (TR)
- Sakarya Uygulamalı Bilimler Üniversitesi
- Sakarya Uygulamalı Bilimler Üniversitesi (TR)
- Venue
- Sakarya University Journal of Science
- Published
- 2020-08-01
- Volume
- 24
- Issue
- 4
- Pages
- 703-711
- ISSN
- 1301-4048 (ISSN-L)
- 2147-835X
- OpenAlex
- W3044895472
- Cited by
- 2
- References
- 0
- Citations by year
- 2022: 1 · 2021: 1
- FWCI
- 0.25
- Type
- journal article
- Language
- en
- Open access
- diamond
- doi.org
- Licence
- cc-by-nc
- Locations
- Sakarya University Journal of Science (publishedVersion, cc-by-nc)
- DergiPark (Istanbul University) (submittedVersion, cc-by-nc)
- DOAJ (DOAJ: Directory of Open Access Journals) (submittedVersion)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Physical Sciences › Engineering › Control and Systems Engineering › Industrial Automation and Control Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Mechanisms and Dynamics
- Keywords
- robot manipulators, 3D object detection, object tracking, robotic grasping, pick-and-place, real-time control, object recognition, robot trajectory planning, workpiece orientation
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
