3D vision-guided pick-and-place using kuka LBR iiwa robot

Niu, Hanlin, Ji, Ze ORCID: https://orcid.org/0000-0002-8968-9902, Zhu, Zihang, Yin, Hujun and Carrasco, Joaquin 2021. 3D vision-guided pick-and-place using kuka LBR iiwa robot. Presented at: 2021 IEEE/SICE International Symposium on System Integration (SII2021), Iwaki, Fukushima, Japan, 11-14 January 2021. 2021 IEEE/SICE International Symposium on System Integration (SII). IEEE, pp. 592-593. 10.1109/IEEECONF49454.2021.9382674

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Abstract

This paper presents the development of a control system for vision-guided pick-and-place tasks using a robot arm equipped with a 3D camera. The main steps include camera intrinsic and extrinsic calibration, hand-eye calibration, initial object pose registration, objects pose alignment algorithm, and pick-and-place execution. The proposed system allows the robot be able to pick and place object with limited times of registering a new object and the developed software can be applied for new object scenario quickly. The integrated system was tested using the hardware combination of kuka iiwa, Robotiq grippers (two finger gripper and three finger gripper) and 3D cameras (Intel real sense D415 camera, Intel real sense D435 camera, Microsoft Kinect V2). The whole system can also be modified for the combination of other robotic arm, gripper and 3D camera.

Item Type:	Conference or Workshop Item (Paper)
Date Type:	Published Online
Status:	Published
Schools:	Engineering
Additional Information:	"© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works."
Publisher:	IEEE
ISBN:	9781728176581
ISSN:	2474-2325
Date of First Compliant Deposit:	27 March 2021
Date of Acceptance:	6 November 2020
Last Modified:	09 Nov 2022 10:38
URI:	https://orca.cardiff.ac.uk/id/eprint/140144

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