Entwicklung eines visuell geführten Pick-n-Place-Roboterarms
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Entwicklung eines visuell geführten Pick-n-Place-Roboterarms

Entwicklung eines visuell geführten Pick-n-Place-Roboterarms


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About the Book

In diesem Buch wird ein komplettes bildverarbeitungsgestütztes Roboterarmsystem zum Aufnehmen und Platzieren von Objekten vorgestellt. Für die Objekterkennung und -lokalisierung nutzt der Ansatz die skaleninvariante Merkmalstransformation zur Extraktion von Schlüsselpunkten, um die Korrespondenzen zwischen dem Objektmodell und dem Bild auf verschiedene potenzielle Objektinstanzen in Echtzeit zu segmentieren. Aus den erhaltenen Korrespondenzen wird der beste Picking-Punkt geschätzt. Die Koordinaten dieses Punktes werden dann in ein Roboterarm-Koordinatensystem übertragen, das es dem Arm ermöglicht, das Objekt an den gewünschten Stellen aufzunehmen und zu platzieren. Durch die Verwendung von SIFT-basiertem Clustering kann das System für Anwendungen unter extremen Verdeckungsbedingungen eingesetzt werden, bei denen Standardansätze, die auf dem Erscheinungsbild basieren, wahrscheinlich unwirksam sind. Dieses System überwindet die meisten Herausforderungen, die im realen Arbeitsumfeld und bei Echtzeitanwendungen auftreten, indem es eine ausreichende Arbeitsgeschwindigkeit bietet. Das System kann komplexe Umgebungsbeleuchtungsbedingungen, schwierige spiegelnde Hintergründe, Okklusionsbedingungen, diffuse und transparente sowie spiegelnde Objekte effizient verarbeiten. Das System kann mit einer einzigen Ansicht des Objekts arbeiten, was den Zeitaufwand und die Komplexität reduziert.


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Product Details
  • ISBN-13: 9786207580026
  • Publisher: KS Omniscriptum Publishing
  • Binding: Paperback
  • Language: German
  • Returnable: N
  • Weight: 190 gr
  • ISBN-10: 6207580028
  • Publisher Date: 26 May 2024
  • Height: 229 mm
  • No of Pages: 88
  • Spine Width: 5 mm
  • Width: 152 mm


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Entwicklung eines visuell geführten Pick-n-Place-Roboterarms
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Entwicklung eines visuell geführten Pick-n-Place-Roboterarms
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