UNOCCULUDED OBJECT GRASPING BY USING VISUAL DATA

Öz Automatic grasping objects can become important in the areas such as industrial processes, processes which are dangerous for human, or the operations which should be executed in the places, small for people work. In this study, it is aimed to design a robotic system for grasping unocculuded certain objects by using visual data. For this aim an experimental process was implemented. Visual data process can be divided in two main parts: identification and three dimensional positioning. Identification issue suffers from several conditions as rotation, camera position, and location of the subject in the frame. Also obtaining the features invariant from these conditions is important. Therefore Zernike moment method can be used to overcome these negativities. In order to identify the objects an artificial neural network was used to classify the objects by using Zernike moment coefficients. In the experimental system a parallel axis stereovision subsystem, a DSPFPGA embedded media processor, and five-axis robot arm were used. The success rate of artificial neural network was 98%. After identifying the objects, a sequential algebra were performed in the DSP part of the media processor and the position of the object according to robot arm reference point was extracted. After all, desired object in the instant frame was grasped and placed in different location by the robot arm.

Kaynak Göster

Bibtex @ { ejt376643, journal = {European Journal of Technique (EJT)}, issn = {2536-5010}, eissn = {2536-5134}, address = {INESEG Yayıncılık Dicle Üniversitesi Teknokent, Sur/Diyarbakır}, publisher = {Hibetullah KILIÇ}, year = {2016}, volume = {6}, pages = {68 - 78}, doi = {}, title = {UNOCCULUDED OBJECT GRASPING BY USING VISUAL DATA}, key = {cite}, author = {Arserim, Muhammet Ali and Demir, Yakup and Uçar, Ayşegül} }
APA Arserim, M , Demir, Y , Uçar, A . (2016). UNOCCULUDED OBJECT GRASPING BY USING VISUAL DATA . European Journal of Technique (EJT) , 6 (2) , 68-78 . Retrieved from https://dergipark.org.tr/tr/pub/ejt/issue/34032/376643
MLA Arserim, M , Demir, Y , Uçar, A . "UNOCCULUDED OBJECT GRASPING BY USING VISUAL DATA" . European Journal of Technique (EJT) 6 (2016 ): 68-78 <https://dergipark.org.tr/tr/pub/ejt/issue/34032/376643>
Chicago Arserim, M , Demir, Y , Uçar, A . "UNOCCULUDED OBJECT GRASPING BY USING VISUAL DATA". European Journal of Technique (EJT) 6 (2016 ): 68-78
RIS TY - JOUR T1 - UNOCCULUDED OBJECT GRASPING BY USING VISUAL DATA AU - Muhammet Ali Arserim , Yakup Demir , Ayşegül Uçar Y1 - 2016 PY - 2016 N1 - DO - T2 - European Journal of Technique (EJT) JF - Journal JO - JOR SP - 68 EP - 78 VL - 6 IS - 2 SN - 2536-5010-2536-5134 M3 - UR - Y2 - 2021 ER -
EndNote %0 European Journal of Technique UNOCCULUDED OBJECT GRASPING BY USING VISUAL DATA %A Muhammet Ali Arserim , Yakup Demir , Ayşegül Uçar %T UNOCCULUDED OBJECT GRASPING BY USING VISUAL DATA %D 2016 %J European Journal of Technique (EJT) %P 2536-5010-2536-5134 %V 6 %N 2 %R %U
ISNAD Arserim, Muhammet Ali , Demir, Yakup , Uçar, Ayşegül . "UNOCCULUDED OBJECT GRASPING BY USING VISUAL DATA". European Journal of Technique (EJT) 6 / 2 (Ağustos 2016): 68-78 .
AMA Arserim M , Demir Y , Uçar A . UNOCCULUDED OBJECT GRASPING BY USING VISUAL DATA. EJT. 2016; 6(2): 68-78.
Vancouver Arserim M , Demir Y , Uçar A . UNOCCULUDED OBJECT GRASPING BY USING VISUAL DATA. European Journal of Technique (EJT). 2016; 6(2): 68-78.
IEEE M. Arserim , Y. Demir ve A. Uçar , "UNOCCULUDED OBJECT GRASPING BY USING VISUAL DATA", European Journal of Technique (EJT), c. 6, sayı. 2, ss. 68-78, Ağu. 2016