Ant Colony Optimization and image model-based robot manipulator system for pick-and-place tasks

Wong, Ching‐Chang; Feng, Hao; Lai, Yeong−Kang; Yu, Chia-Jun

doi:10.3233/jifs-169883

Cited by 4 publications

(3 citation statements)

References 19 publications

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“…The linear actuator stroke is designated as 𝑎 from the top of the base plate up to the bottom of the actuator plate. 𝑟 = 60 − √30 2 − (45 − ℎ) 2 (3)…”

Section: Theoretical Considerations For the Three-claw Gripper Designmentioning

confidence: 99%

“…The robot arm, generally known as robot manipulators, has been frequently used to perform specific tasks while interacting with humans, inanimate objects, machines, and its working environment [1]. These devices are extensively used in automating the manufacturing industry by executing different actions such as pick and place [2], painting [3], welding [4], riveting [5], and drilling [6], among others [7]. Some examples of these robot manipulators are readily available in the market such as Fanuc [8], Kuka [9], and Universal Robots Systems [10].…”

Section: Introductionmentioning

confidence: 99%

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Design of a 3d-Printed Three-Claw Robotic Gripper End-Effector

Ligutan

Española

et al. 2021

AEJ

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The development of a novel 3D-printed three-claw robotic gripper shall be described in this paper with the goal of incorporating various design considerations. Such considerations include the grip reliability and stability, grip force maximization, wide object grasping capability. Modularization of its components is another consideration that allows its parts to be easily machined and reusable. The design was realized by 3D printing using a combination of tough polylactic acid (PLA) material and thermoplastic polyurethane (TPU) material. In practice, additional tolerances were also considered for 3D printing of materials to compensate for possible expansion or shrinkage of the materials used to achieve the required functionality. The aim of the study is to explore the design and eventually deploy the three-claw robotic gripper to an actual robotic arm once its metal work fabrication is finished.

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“…The linear actuator stroke is designated as 𝑎 from the top of the base plate up to the bottom of the actuator plate. 𝑟 = 60 − √30 2 − (45 − ℎ) 2 (3)…”

Section: Theoretical Considerations For the Three-claw Gripper Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design of a 3d-Printed Three-Claw Robotic Gripper End-Effector

Ligutan

Española

et al. 2021

AEJ

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“…Furthermore, for the plucking position of a fruit picking robot, a visual positioning method was proposed by Lei and Lu [11]. Besides, attention model [12], Artificial Neural Network [13,14], Kalman Filter [14],Genetic Algorithm [15], Ant Colony Algorithm *Corresponding Author Institutional Email: liukaidiligent@gmail.com (Kai liu) [16,17], R-CNN [18], GAN model [19], Greedy Algorithm [20], Synovium Control [21], Deep Learning [22,23] and Lightweight deep learning methods [24,25] are also used in object perception and control.…”

Section: Introductionmentioning

confidence: 99%

Bionic Perception Method of Navel Orange Plucking Position Based on Fmincon and PD Angle Control

Liu

Lai

2022

IJE

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In this paper, a bionic perception method of navel orange plucking position based on Fmincon and Proportional Differential (PD) angle control is proposed to solve the problems of wind disturbance and green branches in dynamic unstructured environment. Different from these algorithms that limited to two-dimensional images, this method realizes picking position perception in three-dimensional. Meanwhile, the perception method and the picking robot control algorithm are achieved simultaneously. Firstly, an optimal solution model of the global target rotation angle of the control system based on Fmincon is established to solve the angle optimization problem of robot target approach motion. Secondly, a bionic perception system of plucking position based on PD angle control is constructed to solve specific perception problems. Finally, a joint simulation platform for picking robots based on Solidworks, Adams, and Simulink is given; the validity and accuracy of the algorithm were verified. The experimental results show that the picking accuracy rate is 95%, the angle error of each mechanism and the displacement error are less than 0.5 degrees and 10mm, respectively. The total time from the optimized angle calculation to the system's stability is only about 0.33s. This method is suitable for the rapid perception of plucking position and active angle control of picking robots under dynamic unstructured environment.

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