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Qiu, Shuwei; Wang, Miaomiao; Kermani, Mehrdad R.

doi:10.1016/j.conengprac.2021.104726

Cited by 4 publications

(2 citation statements)

References 24 publications

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“…The appropriate initial grasping pose is preliminarily calculated using the position of the tomato and the current end‐effector position of the manipulator. The camera and end‐effector of manipulator are calibrated using a nonlinear estimator method (Qiu et al, 2021). The rotation matrix of the manipulator end‐effector with the depth camera can be obtained after calibration, and its rotation relationship can be added to ROS to establish the TF tree of the depth camera and manipulator, which can directly read the rotation matrix

{T}_{1}

from the camera coordinate system

camera

to the manipulator base coordinate system

base

through ROS.…”

Section: Tomato Recognition and End‐effector Pose Control Methodsmentioning

confidence: 99%

Adaptive end‐effector pose control for tomato harvesting robots

Wang

Dong

Lian

et al. 2022

Journal of Field Robotics

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This paper investigates the development of a tomato-harvesting robot operating on a plant factory and primarily studies the reachable pose of tomatoes in the nondexterous workspace of manipulator. The end-effector can only reach the tomatoes with reachable poses when the tomatoes are within the nondexterous workspace. If the grasping pose is not reachable, it will lead to grasping failure. An adaptive end-effector pose control method based on a genetic algorithm (GA) is proposed to find a reachable pose. The inverse kinematic solution based on analysis method of the manipulator is analyzed and the objective function of whether the manipulator has a solution or not is obtained. The grasping pose is set as an

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{T}_{1}

from the camera coordinate system

camera

to the manipulator base coordinate system

base

through ROS.…”

Section: Tomato Recognition and End‐effector Pose Control Methodsmentioning

confidence: 99%

Adaptive end‐effector pose control for tomato harvesting robots

Wang

Dong

Lian

et al. 2022

Journal of Field Robotics

View full text Add to dashboard Cite

show abstract

“…The method used to achieve this is based on estimating the homogeneous transformation matrix (HTM) between the HMD coordinate system and the cobot. This technique is known as hand-eye calibration [28].…”

Section: Hmd-cobot Calibrationmentioning

confidence: 99%

Development of a Human–Robot Interface for Cobot Trajectory Planning Using Mixed Reality

Calderón-Sesmero,

Duque-Domingo,

Gómez-García-Bermejo

et al. 2024

Electronics

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The growing demand for projects with collaborative robots, known as “cobots”, underlines the need to efficiently address the execution of tasks with speed and flexibility, without neglecting safety in human–robot interaction. In general terms, this practice requires knowledge of robotics programming and skill in the use of hardware. The proposed solution consists of a mixed reality (MR) application integrated into a mixed reality head-mounted device (HMD) that accelerates the process of programming the complex manoeuvres of a cobot. This advancement is achieved through voice and gesture recognition, in addition to the use of digital panels. This allows any user, regardless of his or her robotics experience, to work more efficiently. The Robot Operating System (ROS) platform monitors the cobot and manages the transfer of data between the two. The system uses QR (Quick Response) codes to establish a precise frame of reference. This solution has proven its applicability in industrial processes, by automating manoeuvres and receiving positive feedback from users who have evaluated its performance. This solution promises to revolutionize the programming and operation of cobots, and pave the way for efficient and accessible collaborative robotics.

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Research on the integrated manipulator of point cloud measurement and precise cutting for waste nuclear tank

2021

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Purpose Nuclear waste tanks need to be cut into pieces before they can be safely disposed of, but the cutting process produces a large amount of aerosols with radiation, which is very harmful to the health of the operator. The purpose of this paper is to establish an intelligent strategy for an integrated robot designed for measurement and cutting, which can accurately identify and cut unknown nuclear waste tanks and realize autonomous precise processing. Design/methodology/approach A robot system integrating point cloud measurement and plasma cutting is designed in this paper. First, accurate calibration methods for the robot, tool and hand-eye system are established. Second, for eliminating the extremely scattered point cloud caused by metal surface refraction, an omnidirectional octree data structure with 26 vectors is proposed to extract the point cloud model more accurately. Then, a minimum bounding box is calculated for limiting the local area to be cut, the local three-dimensional shape of the nuclear tank is fitted within the bounding box, in which the cutting trajectories and normal vectors are planned accurately. Findings The cutting precision is verified by changing the tool into a dial indicator in the simulation and the experiment process. The octree data structure with omnidirectional pointing vectors can effectively improve the filtering accuracy of the scattered point cloud. The point cloud filter algorithm combined with the structure calibration methods for the integrated measurement and processing system can ensure the final machining accuracy of the robot. Originality/value Aiming at the problems of large measurement noise interference, complex transformations between coordinate systems and difficult accuracy guarantee, this paper proposes structure calibration, point cloud filtering and point cloud-based planning algorithm, which can greatly improve the reliability and accuracy of the system. Simulation and experiment verify the final cutting accuracy of the whole system.

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A fast and accurate new algorithm for hand–eye calibration on SO(3)×R3

Cited by 4 publications

References 24 publications

Adaptive end‐effector pose control for tomato harvesting robots

Adaptive end‐effector pose control for tomato harvesting robots

Development of a Human–Robot Interface for Cobot Trajectory Planning Using Mixed Reality

Research on the integrated manipulator of point cloud measurement and precise cutting for waste nuclear tank

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