Storage/retrieval of inaccurately placed objects using robot system and vision/force feedback

Recently, vision and force control are operated in a more complex varied environments, which required a high demand for adaption, flexibility and fast performance. More information and features about the environment are required whenever the tasks are more complex and multifarious such as storage and retrieval tasks which are spread everywhere, for example in libraries, factories, warehouses, pharmacies, supermarkets and etc. In this work it is suggested a robot system to store and retrieve inaccurately placed objects according to their alphabetic/numeric codification system. The vision system will detect the objects´ position and orientation and will analyze the alphabetic/numeric coding system using SIFT algorithm. After that the system will describe how it will grasp the objects by combining the vision and force feedback. This research will focus on the library automation as real application for this work.