Visual Servoing for Object Manipulation: A Case Study in Slaughterhouse

Haiyan Wu, Thomas Timm Andersen, Nils Axel Andersen, Ole Ravn

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

446 Downloads (Pure)

Abstract

Automation for slaughterhouse challenges the design of the control system due to the variety of the objects. Realtime sensing provides instantaneous information about each piece of work and thus, is useful for robotic system developed for
slaughterhouse. In this work, a pick and place task which is a common task among tasks in slaughterhouse is selected as the scenario for the system demonstration. A vision system is utilized to grab the current information of the object, including position and orientation. The information about the object is then transferred to the robot side for path planning. An online and offline combined path planning algorithm is proposed to generate the desired path for the robot control. An industrial robot arm is applied to execute the path. The system is implemented for a lab-scale experiment, and the results show a high success rate of object manipulation in the pick and place task. The approach is implemented in ROS which allows utilization of the developed algorithm on different platforms with little extra effort.
Original languageEnglish
Title of host publicationProceedings of the International Conference on Robotics and Automation
Number of pages6
PublisherIEEE
Publication date2016
ISBN (Print)978-1-5090-3549-6
DOIs
Publication statusPublished - 2016
Event2016 14th International Conference on Control, Automation, Robotics and Vision - Stockholm Waterfront Congress Centre, Phuket, Thailand
Duration: 13 Nov 201615 Nov 2016

Conference

Conference2016 14th International Conference on Control, Automation, Robotics and Vision
LocationStockholm Waterfront Congress Centre
CountryThailand
CityPhuket
Period13/11/201615/11/2016

Keywords

  • Robot kinematics
  • Cameras
  • Robot vision systems
  • Service robots
  • Belts

Cite this

Wu, H., Andersen, T. T., Andersen, N. A., & Ravn, O. (2016). Visual Servoing for Object Manipulation: A Case Study in Slaughterhouse. In Proceedings of the International Conference on Robotics and Automation IEEE. https://doi.org/10.1109/ICARCV.2016.7838841
Wu, Haiyan ; Andersen, Thomas Timm ; Andersen, Nils Axel ; Ravn, Ole. / Visual Servoing for Object Manipulation: A Case Study in Slaughterhouse. Proceedings of the International Conference on Robotics and Automation. IEEE, 2016.
@inproceedings{b2e92ed4ab5b42a287b5a32a08f4b820,
title = "Visual Servoing for Object Manipulation: A Case Study in Slaughterhouse",
abstract = "Automation for slaughterhouse challenges the design of the control system due to the variety of the objects. Realtime sensing provides instantaneous information about each piece of work and thus, is useful for robotic system developed forslaughterhouse. In this work, a pick and place task which is a common task among tasks in slaughterhouse is selected as the scenario for the system demonstration. A vision system is utilized to grab the current information of the object, including position and orientation. The information about the object is then transferred to the robot side for path planning. An online and offline combined path planning algorithm is proposed to generate the desired path for the robot control. An industrial robot arm is applied to execute the path. The system is implemented for a lab-scale experiment, and the results show a high success rate of object manipulation in the pick and place task. The approach is implemented in ROS which allows utilization of the developed algorithm on different platforms with little extra effort.",
keywords = "Robot kinematics, Cameras, Robot vision systems, Service robots, Belts",
author = "Haiyan Wu and Andersen, {Thomas Timm} and Andersen, {Nils Axel} and Ole Ravn",
year = "2016",
doi = "10.1109/ICARCV.2016.7838841",
language = "English",
isbn = "978-1-5090-3549-6",
booktitle = "Proceedings of the International Conference on Robotics and Automation",
publisher = "IEEE",
address = "United States",

}

Wu, H, Andersen, TT, Andersen, NA & Ravn, O 2016, Visual Servoing for Object Manipulation: A Case Study in Slaughterhouse. in Proceedings of the International Conference on Robotics and Automation. IEEE, 2016 14th International Conference on Control, Automation, Robotics and Vision, Phuket, Thailand, 13/11/2016. https://doi.org/10.1109/ICARCV.2016.7838841

Visual Servoing for Object Manipulation: A Case Study in Slaughterhouse. / Wu, Haiyan; Andersen, Thomas Timm; Andersen, Nils Axel; Ravn, Ole.

Proceedings of the International Conference on Robotics and Automation. IEEE, 2016.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

TY - GEN

T1 - Visual Servoing for Object Manipulation: A Case Study in Slaughterhouse

AU - Wu, Haiyan

AU - Andersen, Thomas Timm

AU - Andersen, Nils Axel

AU - Ravn, Ole

PY - 2016

Y1 - 2016

N2 - Automation for slaughterhouse challenges the design of the control system due to the variety of the objects. Realtime sensing provides instantaneous information about each piece of work and thus, is useful for robotic system developed forslaughterhouse. In this work, a pick and place task which is a common task among tasks in slaughterhouse is selected as the scenario for the system demonstration. A vision system is utilized to grab the current information of the object, including position and orientation. The information about the object is then transferred to the robot side for path planning. An online and offline combined path planning algorithm is proposed to generate the desired path for the robot control. An industrial robot arm is applied to execute the path. The system is implemented for a lab-scale experiment, and the results show a high success rate of object manipulation in the pick and place task. The approach is implemented in ROS which allows utilization of the developed algorithm on different platforms with little extra effort.

AB - Automation for slaughterhouse challenges the design of the control system due to the variety of the objects. Realtime sensing provides instantaneous information about each piece of work and thus, is useful for robotic system developed forslaughterhouse. In this work, a pick and place task which is a common task among tasks in slaughterhouse is selected as the scenario for the system demonstration. A vision system is utilized to grab the current information of the object, including position and orientation. The information about the object is then transferred to the robot side for path planning. An online and offline combined path planning algorithm is proposed to generate the desired path for the robot control. An industrial robot arm is applied to execute the path. The system is implemented for a lab-scale experiment, and the results show a high success rate of object manipulation in the pick and place task. The approach is implemented in ROS which allows utilization of the developed algorithm on different platforms with little extra effort.

KW - Robot kinematics

KW - Cameras

KW - Robot vision systems

KW - Service robots

KW - Belts

U2 - 10.1109/ICARCV.2016.7838841

DO - 10.1109/ICARCV.2016.7838841

M3 - Article in proceedings

SN - 978-1-5090-3549-6

BT - Proceedings of the International Conference on Robotics and Automation

PB - IEEE

ER -

Wu H, Andersen TT, Andersen NA, Ravn O. Visual Servoing for Object Manipulation: A Case Study in Slaughterhouse. In Proceedings of the International Conference on Robotics and Automation. IEEE. 2016 https://doi.org/10.1109/ICARCV.2016.7838841