The purpose of this paper is to describe a robot vision system which put rings on hooks that are moving freely on a conveyor belt. The hook can show a significant swinging which can be well approximated by a pendulum movement. The problem is of large relevance for many industrial applications and the challenge is to compute a 3D pose that is sufficiently precise to allow for successful placements of the rings.
This requires a fast and precise tracking and a compensation for latencies connected to the processing of visual information as well as the actual robot action.
The authors achieve this through a precise pose estimation in a high‐resolution stereo setup, as well as a modeling of the hook movement as a combination of a translational and a pendulum movement.
The paper shows that under normal conditions close to 100 percent success can be achieved such that this technology now can be transferred into industrial systems.
Kjær‐Nielsen, A., Glent Buch, A., Emil Kryger Jensen, A., Møller, B., Kraft, D., Krüger, N., Gordon Petersen, H. and Ellekilde, L. (2011), "Ring on the hook: placing a ring on a moving and pendulating hook based on visual input", Industrial Robot, Vol. 38 No. 3, pp. 301-314. https://doi.org/10.1108/01439911111122806Download as .RIS
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