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Dynamic Collision Avoidance System for a Manipulator Based on RGB-D Data [chapter]

Thadeu Brito, Jose Lima, Pedro Costa, Luis Piardi
2017 Advances in Intelligent Systems and Computing  
This paper proposes a system that acquires the environment space, based on a kinect sensor, performs the path planning of a UR5 manipulator for pick and place tasks while avoiding the objects, based on  ...  The robot should have the ability of acquire the environment and plan (or re-plan) on-the-fly the movement avoiding the obstacles and people.  ...  Acknowledgment Project "TEC4Growth -Pervasive Intelligence, Enhancers and Proofs of Concept with Industrial Impact/NORTE-01-0145-FEDER-000020" is financed by the North Portugal Regional Operational.  ... 
doi:10.1007/978-3-319-70836-2_53 fatcat:5u3prden4fhkroa4ftfzuxnhtm

Cartesian space robot manipulator clamping movement in ROS simulation and experiment

Longtao Mu, Yunfei Zhou, Tiebiao Zhao
2021 Applied Mathematics and Nonlinear Sciences  
The robot motion planning analysis and sorting manipulator drive UR5 manipulator.  ...  Based on ROS for 6-degree-of-freedom (DOF) robot motion simulation, random extended tree (RRT) algorithm from open motion planning library (OMPL) is selected.  ...  Acknowledgements: This research was conducted at the School of Mechanical Engineering, Shaanxi Polytechnic Institute, and was supported by research grants from the Shaanxi Polytechnic Institute doctoral  ... 
doi:10.2478/amns.2021.1.00011 fatcat:nrehovpznba6jk6a3mi372zt7i

Collision Avoidance System with Obstacles and Humans to Collaborative Robots Arms Based on RGB-D Data [chapter]

Thadeu Brito, José Lima, Pedro Costa, Vicente Matellán, João Braun
2019 Advances in Intelligent Systems and Computing  
manipulator avoiding collisions.  ...  The obtained results allow to validate the system using the algorithms PRM and RRT, chosen for being commonly used in the field of robot path planning.  ...  LE028P17 and by "Ministerio de Ciencia, Innovaci6n y Universidades" of the Kingdom of Spain through grant RTI2018-100683-B-IOO.  ... 
doi:10.1007/978-3-030-35990-4_27 fatcat:fgubn65zpncrbdwjjtjnlcubj4

Integration of DE Algorithm with PDC-APF for Enhancement of Contour Path Planning of a Universal Robot

Issraa Jwad Kazim, Yuegang Tan, Layth Qaseer
2021 Applied Sciences  
This requires the implementation of an algorithm that detects an obstacle to avoid anticipated collisions.  ...  The purpose of this paper is to quantify the contour tracking performance of collaborative universal manipulator robot (UR5) by setting the gain of position domain controller.  ...  Conflicts of Interest: The author declares no conflict of interest.  ... 
doi:10.3390/app11146532 fatcat:i3lcyscbl5ebzbnarnifrvpfhm

Multi 3D camera mapping for predictive and reflexive robot manipulator trajectory estimation

Justinas Miseikis, Kyrre Glette, Ole Jakob Elle, Jim Torresen
2016 2016 IEEE Symposium Series on Computational Intelligence (SSCI)  
The main goal of our work is to make the operation more flexible in unstructured dynamic workspaces and not just avoid obstacles, but also adapt when performing collaborative tasks with humans in the near  ...  Furthermore, the robot has successfully avoided any contact by initialising the reflexive movement even when an obstacle got unexpectedly close to the robot.  ...  ACKNOWLEDGMENT This work is partially supported by The Research Council of Norway as a part of the Engineering Predictability with Embodied Cognition (EPEC) project, under grant agreement 240862  ... 
doi:10.1109/ssci.2016.7850237 dblp:conf/ssci/MiseikisGET16 fatcat:ksoe7oth4jcjdhf6jrgb4z2xri

Multiple manipulators path planning using double A*

Pedro Tavares, José Lima, Pedro Costa, A. Paulo Moreira
2016 Industrial robot  
path and motion planning.  ...  Design/ Methodology / Approach -The developed system is based on a spatial discretization methodology capable of describing the surrounding environment of the robot, followed by a novel path planning algorithm  ...  Although these studies marked the beginning of autonomous and motion controlled manipulator arms, a crucial evolution was the integration of obstacles avoidance algorithms proposed by Yao et al. (2008  ... 
doi:10.1108/ir-01-2016-0006 fatcat:pdfe2l5aefbsnivlcwgvfqmw5i

Path Planning of a Mechanical Arm Based on an Improved Artificial Potential Field and a Rapid Expansion Random Tree Hybrid Algorithm

Qingni Yuan, Junhui Yi, Ruitong Sun, Huan Bai
2021 Algorithms  
To improve the path planning efficiency of a robotic arm in three-dimensional space and improve the obstacle avoidance ability, this paper proposes an improved artificial potential field and rapid expansion  ...  Furthermore, the hybrid algorithm is simulated in a robot operating system (ROS) using the UR5 mechanical arm, and the results prove the effectiveness and reliability of the hybrid algorithm.  ...  ROS Simulation Experiment This section took the UR5 mechanical arm as the research object, conducted a simulation analysis in the ROS, and set up the scenes required for robotic arm motion planning in  ... 
doi:10.3390/a14110321 fatcat:fjju4mgdgva5re3r4aib3vjmhy

An universal GMMs-based sample strategy and collision checker for robot motion planning

Fusheng Zha, Xuehan Dai, Wei Guo, Yizhou Liu
2019 IOP Conference Series: Materials Science and Engineering  
The sampling-based motion planning methods acquire obstacle information by performing collision detection for a large number of samples, which can effectively solve autonomous obstacle avoidance problem  ...  The models fitting the target area in the manipulator configuration space can guide the adaptive sampling; using the GMMs fitting the obstacle region to predict the collision probability of the samples  ...  The sampling-based motion planning [1] , such as RRT, is an important means to solve the manipulator motion planning problem.  ... 
doi:10.1088/1757-899x/569/3/032063 fatcat:majyfuvoofhwnf242huee3mrne

Model-based systems engineering to design collaborative robotics applications

Carlos Hernandez, Jose Luis Fernandez-Sanchez
2017 2017 IEEE International Systems Engineering Symposium (ISSE)  
In this paper, the ISE&PPOOA methodology for Model-Based Systems Engineering is applied for the development of robotic systems.  ...  The challenges that robotic systems present to model-based systems engineering are discussed, together with the benefits of MBSE methodologies.  ...  For this reason, the application design uses a UR5 Universal Robot collaborative manipulator and a light 3D printed suction-based gripper without sharp edges.  ... 
doi:10.1109/syseng.2017.8088258 fatcat:l7ok667syjh7djporuwfv3yi7m

An autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns

Meysam Basiri, João Gonçalves, José Rosa, Alberto Vale, Pedro Lima
2021 SN Applied Sciences  
This paper describes the implementation of an autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns, finding applications in different industrial automation  ...  Article Highlights Full system description of an autonomous mobile manipulator for construction tasks tested in a realistic setting Algorithms for detection, localization, picking and placement of heterogeneous  ...  The motion of the robot base is independent of the manipulator and only after the base is aligned with the brick, the manipulator is then employed to pick up the brick.  ... 
doi:10.1007/s42452-021-04506-7 fatcat:l42pdmqto5gbnmginxn5whqyou

Free-View, 3D Gaze-Guided, Assistive Robotic System for Activities of Daily Living [article]

Ming-Yao Wang, Alexandros A. Kogkas, Ara Darzi, George P. Mylonas
2018 arXiv   pre-print
The user's point of regard is estimated in 3D space while allowing free head movement and is combined with object recognition and trajectory planning.  ...  Patients suffering from quadriplegia have limited body motion which prevents them from performing daily activities.  ...  is an open-source software for robotic manipulation, motion planning and control and is fully integrated with ROS.  ... 
arXiv:1807.05452v2 fatcat:lan4avihnjayjnsg5b3j2sq7wm

Robot Localisation and 3D Position Estimation Using a Free-Moving Camera and Cascaded Convolutional Neural Networks

Justinas Miseikis, Patrick Knobelreiter, Inka Brijacak, Saeed Yahyanejad, Kyrre Glette, Ole Jakob Elle, Jim Torresen
2018 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)  
We present a deep learning based approach to remove the constraint of having the need for the robot and the vision sensor to be fixed and calibrated in relation to each other.  ...  The main benefit of our method is the possibility of the vision sensor to move freely.  ...  ACKNOWLEDGMENT This work is partially supported by The Research Council of Norway as a part of the Engineering Predictability with Embodied Cognition (EPEC) project, under grant agreement 240862, and by  ... 
doi:10.1109/aim.2018.8452236 dblp:conf/aimech/MiseikisKBYGET18 fatcat:xycn52qjj5fmtlihzcwupgci6q

An Autonomous Mobile Handling Robot Using Object Recognition

N. Rauer Johannes, Woeber Wilfried, Aburaia Mohamed
2019 Zenodo  
This work describes the development of an automatic transport robot using a sensitive manipulator and 3D vision for autonomous transport of objects.  ...  from depth images to avoid cumbersome grasp-point-annotated training data.  ...  The software of the mobile manipulator is based on ROS (Robot operating system) [29] .  ... 
doi:10.5281/zenodo.3675257 fatcat:zu4jhoxdavh23gkrw6xho633my

Smooth Sensor Motion Planning for Robotic Cyber Physical Social Sensing (CPSS)

Hong Tang, Liangzhi Li, Nanfeng Xiao
2017 Sensors  
We successfully utilize robots in CPSS, and propose a sensor trajectory planning method in this paper. Trajectory planning is a fundamental problem in mobile robotics.  ...  Although many researchers have begun to study the area of Cyber Physical Social Sensing (CPSS), few are focused on robotic sensors.  ...  The proposed method, however, can adjust the robotic motion according to the relative position between the end-effector and the target object to avoid motion and calibration errors, and is therefore able  ... 
doi:10.3390/s17020393 pmid:28218649 pmcid:PMC5336121 fatcat:scupd3bbavdyvpi2acqkptnhsq

Skill Transfer Between Industrial Robots by Learning from Demonstration

Meng-Tang LI, Richard-Alan PETERS
2017 DEStech Transactions on Computer Science and Engineering  
Object, Avoid Obstacle, etc. 2.  ...  UNIVERSAL ROBOT UR5 A ROS Gazebo simulation of a Universal Robot UR5 was chosen as another experimental platform that we used.  ... 
doi:10.12783/dtcse/aice-ncs2016/5648 fatcat:on5ggvsxynb77phgewrwmadtnq
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