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It is difficult to apply object recognition technology to manufacturing industry because the intrinsic characteristics of an object is easily influenced by the surrounding environment such as lighting condition, background complexity and object shape. This paper proposes a precise object detection method for assembling components by more stable feature extraction. To accomplish it, two images are...
Brain computer interfacing is a new paradigm to provide an alternative path of communication for those, who have lost their sensory, motor and autonomous function limb movement from spinal cord injury or other neuronal disorder. To increase living standard of them, a thought controlled robot or robotic arm can be of great importance for their better communication to external world. This paper proposes...
This study focuses on the design of an intelligent machine vision and sorting system. The vision system uses an artificial neural network trained to perform recognition. A Bluetooth communication link facilitates communication between the intelligent recognition system and a robot control computer. Image feature vectors are transmitted to the remote control computer for recognition and a robot control...
The developed mobile manipulator is primarily composed of a mobile base, a robot manipulator and an eye-in-hand vision system. The material handling of a mobile manipulator has two stages: guiding the mobile base between stations, and picking up a workpiece from a station. Fast landmark recognition and obstacle detection based on color segmentation are proposed for path following, obstacle avoidance...
A moment Invariant-Based multi-target recognition and grasping method aimed to the visual servoing control for robot manipulator is presented. The recognizing for the assigned target objective among the multi-targets is realized by using the image region segment technique, features set composed of 7 moment invariants and Euclidean distance measurement. The grasping recognized target objective is completed...
Image features represent inputs for different types of visual applications. For visual servoing tasks the chosen features must be stable, accurate and robust. Gradient based algorithms for feature detection are sensitive to noise, illumination change and scale change. Using phase congruency, an image feature detection algorithm is developed based on the local energy model. The performances of the...
This paper presents a multivariable open-loop model for visual servoing of robot manipulators using image based strategy. The modeling considers the dynamics of the velocity controlled robot as well as a model of the visual sensor that consists of camera and feature extraction block. Taking into account the velocity dynamics with internal feedback loops, a linearized and decoupled model of the joints...
Although the human hand is a complex biomechanical system, only a small set of features may be necessary for observation learning of functional grasp classes. We explore how to methodically select a minimal set of hand pose features from optical marker data for grasp recognition. Supervised feature selection is used to determine a reduced feature set of surface marker locations on the hand that is...
In this paper an object manipulation approach is proposed, in which object location is detected through stereo vision, pre-reaching and alignment of the object with hand is based on image features, and finally inverse kinematics control algorithm is developed. A new method for computing numerical solution to the inverse kinematics problem of robot manipulator is developed. The proposed method is based...
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