Integration of Artificial Vision and Image Processing into a Pick and Place Collaborative Robotic System

Santos, Adriano A.; Schreurs, Cas; Silva, António Ferreira da; Pereira, Filipe; Felgueiras, Carlos; Lopes, António M.; Machado, José

http://hdl.handle.net/10400.22/29424

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Authors

Santos, Adriano A.

Schreurs, Cas

Silva, António Ferreira da

Abstract(s)

n the field of robotics, pick and place applications are becoming increasingly popular due to their ability to automate repetitive tasks that can create temporary or permanent injuries. To enhance the efficiency of these applications, object recognition using a fixed camera or one mounted on a robotic hand has been employed. This paper explores the possibilities of implementing a low-cost camera into a collaborative robotic system. A software architecture has been developed, including modules for perception, pick and place, and part transfer. A comprehensive overview of various intuitive drag-and-drop image processing technologies and their suitability for object recognition in a robotic context is provided. The challenges related to lighting and the effect of shadows in object recognition are discussed. A critical assessment is made of the architecture development platform as well as the study and the results are performed, and the effectiveness of the proposed solution based on the Niop architecture is verified.

Keywords

Artificial vision Camera Cobot Image processing Object detection UR3e collaborative robot

URI

http://hdl.handle.net/10400.22/29424

Citation

Santos, A.A., Schreurs, C., da Silva, A.F. et al. Integration of Artificial Vision and Image Processing into a Pick and Place Collaborative Robotic System. J Intell Robot Syst 110, 159 (2024). https://doi.org/10.1007/s10846-024-02195-z