A new kinect V2-based method for visual recognition and grasping of a yarn-bobbin-handling robot
Authors:
- Jinghai Han,
- Bo Liu,
- Yongle Jia,
- Shoufeng Jin,
- Maciej Sulowicz,
- Adam Glowacz,
- Grzegorz Królczyk,
- Zhixiong Li
Abstract
This work proposes a Kinect V2-based visual method to solve the human dependence on the yarn bobbin robot in the grabbing operation. In this new method, a Kinect V2 camera is used to produce three-dimensional (3D) yarn-bobbin point cloud data for the robot in a work scenario. After removing the noise point cloud through a proper filtering process, the M-estimator sample consensus (MSAC) algorithm is employed to find the fitting plane of the 3D cloud data; then, the principal component analysis (PCA) is adopted to roughly register the template point cloud and the yarnbobbin point cloud to define the initial position of the yarn bobbin. Lastly, the iterative closest point (ICP) algorithm is used to achieve precise registration of the 3D cloud data to determine the precise pose of the yarn bobbin. To evaluate the performance of the proposed method, an experimental platform is developed to validate the grabbing operation of the yarn bobbin robot in different scenarios. The analysis results show that the average working time of the robot system is within 10s, and the grasping success rate is above 80%, which meets the industrial production requirements.
- Record ID
- CUTbe0cefcea2354afd85c7a89b8ecf1bd4
- Publication categories
- ;
- Author
- Journal series
- Micromachines, ISSN , e-ISSN 2072-666X, Monthly
- Issue year
- 2022
- Vol
- 13
- No
- 6
- Pages
- 1-11
- Article number
- 886
- Other elements of collation
- fot.; rys.; tab.; Bibliografia (na s.) - 10-11; Bibliografia (liczba pozycji) - 27; Oznaczenie streszczenia - Abstr.; Numeracja w czasopiśmie - Vol. 13, Iss. 6
- Keywords in English
- machine vision, industrial robots, yarn bobbin identification, robot control
- ASJC Classification
- ; ;
- DOI
- DOI:10.3390/mi13060886 Opening in a new tab
- URL
- https://www.mdpi.com/2072-666X/13/6/886 Opening in a new tab
- Related project
- Nowatorska, sterowana danymi, oparta na inteligentnym prognozowaniu platforma do złożonych systemów cyber-fizycznych w kierunku przyszłości. . Project leader at PK: , ,
- Language
- eng (en) English
- License
- Score (nominal)
- 70
- Score source
- journalList
- Score
- Publication indicators
- Citation count
- 6
- Additional fields
- Indeksowana w: Web of Science, Scopus
- Uniform Resource Identifier
- https://cris.pk.edu.pl/info/article/CUTbe0cefcea2354afd85c7a89b8ecf1bd4/
- URN
urn:pkr-prod:CUTbe0cefcea2354afd85c7a89b8ecf1bd4
* presented citation count is obtained through Internet information analysis, and it is close to the number calculated by the Publish or PerishOpening in a new tab system.