Scopus
YÖKSİS Eşleşti
Determination of Angular Status and Dimensional Properties of Objects for Grasping with Robot Arm
IEEE Latin America Transactions · Şubat 2023
YÖKSİS Kayıtları
Determination of Angular Status and Dimensional Properties of Objects for Grasping with Robot Arm
IEEE LATIN AMERICA TRANSACTIONS · 2023 SCI-Expanded
DOKTOR ÖĞRETİM ÜYESİ KÜRŞAD UÇAR →
Determination of Angular Status and Dimensional Properties of Objects for Grasping with Robot Arm
IEEE Latin America Transactions · 2023 SCI-Expanded
PROFESÖR HASAN ERDİNÇ KOÇER →
Makale Bilgileri
DergiIEEE Latin America Transactions
Yayın TarihiŞubat 2023
Cilt / Sayfa21 · 335-343
Scopus ID2-s2.0-85147442220
Özet
In any task, robot arms can work more effectively without human control. With components such as imaging devices, it is possible to program robots to control autonomously. In this study, the problem of grasping moving objects with the robot arm is realized fully automatically. Deep learning-based You Only Look Once(YOLO) recognizes the objects moving at unknown speeds on a conveyor belt. The velocities of the detected objects are calculated by image processing methods with 2D camera frames. An Artificial Neural Network (ANN) was trained to output the angles required for the robot arm to grasp. According to the got values, the robot arm waits for the object to arrive and then realizes the grip. In the trials, the robot arm achieved successful gripping of over 93% without knowing the sizes, speeds, and positions of the objects.
Yazarlar (2)
1
Kursad Ucar
2
Hasan Erdinc Kocer
Anahtar Kelimeler
Grasping
Kinematics
Learning and Adaptive Systems
Recognition.
Metrikler
5
Atıf
2
Yazar
4
Anahtar Kelime