Paper Info
Title
Ring On The Hook: Placing A Ring On A Moving And Pendulating Hook Based On Visual Input
Abstract
Purpose - The purpose of this paper is to describe a robot vision system which put rings on hooks that are moving freely on a conveyor belt. The hook can show a significant swinging which can be well approximated by a pendulum movement. The problem is of large relevance for many industrial applications and the challenge is to compute a 3D pose that is sufficiently precise to allow for successful placements of the rings.Design/methodology/approach - This requires a fast and precise tracking and a compensation for latencies connected to the processing of visual information as well as the actual robot action.Findings - The authors achieve this through a precise pose estimation in a high-resolution stereo setup, as well as a modeling of the hook movement as a combination of a translational and a pendulum movement.Originality/value - The paper shows that under normal conditions close to 100 percent success can be achieved such that this technology now can be transferred into industrial systems.
Year
DOI
Venue
2011
10.1108/01439911111122806
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
Keywords
Field
DocType
Robotics, Conveyors, Tracking, Assembly
Pose,Control engineering,Artificial intelligence,System identification,Hook,Robotics,Computer vision,Conveyor belt,Information processing,Simulation,Engineering,Pendulum,Robot
Journal
Volume
Issue
ISSN
38
3
0143-991X
Citations 
PageRank 
References 
2
0.37
18
Authors
8
Name
Order
Citations
PageRank
Anders Kjær-Nielsen1292.70
Anders Glent Buch27311.99
Andreas Emil Kryger Jensen320.37
Bent Møller420.37
Dirk Kraft525224.06
Norbert Krüger6408.76
Henrik Gordon Petersen711117.88
Lars-Peter Ellekilde86810.17