DocumentCode :
3288691
Title :
A robotic ball catcher with embedded visual servo processor
Author :
Hu, Jwu-Sheng ; Chien, Ming-Chih ; Chang, Yung-Jung ; Chang, Yen-Chung ; Su, Shyh-Haur ; Yang, Jwu-Jiun ; Kai, Chen-Yu
Author_Institution :
Dept. of Electr. & Control Eng., Nat. Chiao-Tung Univ., Hsinchu, Taiwan
fYear :
2010
fDate :
18-22 Oct. 2010
Firstpage :
2513
Lastpage :
2514
Abstract :
In this work we present a robotic ball catcher with embedded visual servo processor. The embedded visual servo processor with powerful parallel computing capability is used as the computation platform to track and triangulate a flying ball´s position in 3D based on stereo vision. A recursive least squares algorithm for model-based path prediction of the flying ball is used to determine the catch time and position. Experimental results for real time catching of a flying ball are presented by a 6-DOF robot arm. The percentage of success rate of the robotic ball catcher was found to be approximately 60% for the ball thrown to it from five meters away.
Keywords :
dexterous manipulators; embedded systems; manipulator dynamics; mobile robots; path planning; robot vision; stereo image processing; visual servoing; 6-DOF robot arm; embedded visual servo processor; model based path prediction; parallel computing; recursive least squares algorithm; robotic ball catcher; stereo vision;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
ISSN :
2153-0858
Print_ISBN :
978-1-4244-6674-0
Type :
conf
DOI :
10.1109/IROS.2010.5648912
Filename :
5648912
Link To Document :
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