Planning, Simulation and Experimental Research into Typical Robotic Manipulator Operation

Authors: Leskov A.G., Illarionov V.V., Kalevatykh I.A., Moroshkin S.D., Bazhinova K.V., Seliverstova E.V. Published: 11.08.2016
Published in issue: #4(109)/2016  

DOI: 10.18698/0236-3941-2016-4-57-70

Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems  
Keywords: manipulator, automatic mode, computer appliance, task pattern, bag opening, ROS, MoveIt

This paper introduces an approach and experimental results of planning, simulating and automatic performing of typical robotic manipulations of an object with unknown position, orientation and dimensions. The approach is based on combining automatic motion trajectory planning algorithms using computer vision systems with trajectory learning through demonstrating action sequences by human operator. The demonstration is held in virtual environment with the determined task pattern. The method is implemented for automatic opening of a bag with a magnetic snap. Experimental results with an industrial robot confirm the suitability of the proposed method.


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