In this paper, a solution is presented for a robotic
manipulation problem in industrial settings. The problem is sensing
objects on a conveyor belt, identifying the target, planning and
tracking an interception trajectory between end effector and the
target. Such a problem could be formulated as combining object
recognition, tracking and interception. For this purpose, we integrated
a vision system to the manipulation system and employed tracking
algorithms. The control approach is implemented on a real industrial
manipulation setting, which consists of a conveyor belt, objects
moving on it, a robotic manipulator, and a visual sensor above the
conveyor. The trjectory for robotic interception at a rendezvous point
on the conveyor belt is analytically calculated. Test results show that
tracking the raget along this trajectory results in interception and
grabbing of the target object.
robotics, robot vision, rendezvous planning, self organizingmaps.