Development of sensor based transparent object handling using robot manipulator
TJ211.C46 2017
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2024
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my.uniten.dspace-337312024-10-13T02:03:01Z Development of sensor based transparent object handling using robot manipulator Chong Teik Boon Manipulators (mechanism) TJ211.C46 2017 UR 5 is chosen to perform the transparent objects handling, because it is a collaborative robot which can be used in enclosed room without barrier. The gripper designed is two claws gripper with a rubber stick on it, in order to improve the strength of the grip of the gripper. Kinect has been introduced to detect the transparent objects from the top circular part of the transparent objects. This is because the top circular part of the objects has higher contrast and easier to be detected. However, the experiment is limited to detect the height of the transparent objects. Besides, the programming language used is C programming for the general part and Kinect sensor, while OpenCV is used for image processing and transparent objects detection. Transparent objects are detected by using Hough Circle Transform method. The pixel of Kinect and the world coordinate of the UR 5 are calibrated by using comparing method. The relation between them is found and used for conversion from detected coordinate in millimeter, which is pixel to world coordinate of UR 5. The experimental results of transparent objects detection and transparent objects handling is carried out, in order to prove the algorithms developed. In addition, the average success rates of the transparent objects detection and transparent objects handling are then calculated and discussed. Lastly, several recommendations for further improvements for this project are then briefly discussed. 2024-10-07T04:44:57Z 2024-10-07T04:44:57Z 2017 Resource Types::text::Final Year Project https://irepository.uniten.edu.my/handle/123456789/33731 en application/pdf |
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| language |
English |
| topic |
Manipulators (mechanism) |
| spellingShingle |
Manipulators (mechanism) Chong Teik Boon Development of sensor based transparent object handling using robot manipulator |
| description |
TJ211.C46 2017 |
| format |
Resource Types::text::Final Year Project |
| author |
Chong Teik Boon |
| author_facet |
Chong Teik Boon |
| author_sort |
Chong Teik Boon |
| title |
Development of sensor based transparent object handling using robot manipulator |
| title_short |
Development of sensor based transparent object handling using robot manipulator |
| title_full |
Development of sensor based transparent object handling using robot manipulator |
| title_fullStr |
Development of sensor based transparent object handling using robot manipulator |
| title_full_unstemmed |
Development of sensor based transparent object handling using robot manipulator |
| title_sort |
development of sensor based transparent object handling using robot manipulator |
| publishDate |
2024 |
| _version_ |
1814061087469862912 |
| score |
13.222552 |