Object-retrieving Autonomous Robotic Arm
Upcoming SlideShare
Loading in...5
×
 

Like this? Share it with your network

Share

Object-retrieving Autonomous Robotic Arm

on

  • 497 views

Poster for our presentation on our Autonomous Robotic Arm that detects objects with an overhead camera, uses motion planning and reverse kinematics to retrieve objects, and places the objects in a ...

Poster for our presentation on our Autonomous Robotic Arm that detects objects with an overhead camera, uses motion planning and reverse kinematics to retrieve objects, and places the objects in a bin. This project was done as part of the EECS 498 Autonomous Robotics Lab at the University of Michigan.

Statistics

Views

Total Views
497
Views on SlideShare
497
Embed Views
0

Actions

Likes
0
Downloads
3
Comments
0

0 Embeds 0

No embeds

Accessibility

Categories

Upload Details

Uploaded via as Adobe PDF

Usage Rights

© All Rights Reserved

Report content

Flagged as inappropriate Flag as inappropriate
Flag as inappropriate

Select your reason for flagging this presentation as inappropriate.

Cancel
  • Full Name Full Name Comment goes here.
    Are you sure you want to
    Your message goes here
    Processing…
Post Comment
Edit your comment

Object-retrieving Autonomous Robotic Arm Presentation Transcript

  • 1. Autonomous Object Retrieval with a Robotic Arm! ! Samantha Luber, Zach Oligschlaeger, John Scheible!Abstract! Block Detection!Through incorporating various •  Uses a Union Find algorithmobject detection algorithms on to build up pixel blobs of theimages from an overhead same color!camera, we are able to efficiently •  Determines blobs within atrack balls and blocks in the color and size threshold to berobotic arm’s search space. By blocks!applying a planning algorithm, •  Calculates block orientationthe robotic arm is able to retrieve with respect to the arm!reachable objects and movethem to the collection bin. !Ball Detection! Planning!•  Optimized template matching •  Detects reachable objects! algorithm scans through •  Calculates movement images from overhead camera! required by each joint needed•  Searches for balls using a to reach object and plans joint stored yellow ball image as the movement to avoid collisions! template! •  Detects if the object was missed and re-attempts Arm Communication! retrieval if necessary! •  Moves object to static goal •  LCM message passing by subscribing and location! posting movement commands to each servo’s channel!