Ring on the hook: placing a ring on a moving and pendulating hook based on visual input

Anders Kjær-Nielsen, Anders Glent Buch, Andreas Kryger Jensen, Bent Møller, Dirk Kraft, Norbert Krüger, Henrik Gordon Petersen, Lars-Peter Ellekilde

Research output: Contribution to journalJournal articleResearchpeer-review

Abstract

Purpose – The purpose of this paper is to describe a robot vision system which put rings on hooks that are moving freely on a conveyor belt. The hook can show a significant swinging which can be well approximated by a pendulum movement. The problem is of large relevance for many industrial applications and the challenge is to compute a 3D pose that is sufficiently precise to allow for successful placements of the rings.

Design/methodology/approach – This requires a fast and precise tracking and a compensation for latencies connected to the processing of visual information as well as the actual robot action.

Findings – The authors achieve this through a precise pose estimation in a high-resolution stereo setup, as well as a modeling of the hook movement as a combination of a translational and a pendulum movement.

Originality/value – The paper shows that under normal conditions close to 100 percent success can be achieved such that this technology now can be transferred into industrial systems.
Original languageEnglish
JournalIndustrial Robot: the international journal of robotics research and application
Volume38
Issue number3
Pages (from-to)301-314
ISSN0143-991X
DOIs
Publication statusPublished - 2011

Fingerprint

Hooks
Pendulums
Computer vision
Industrial applications
Robots
Processing

Keywords

  • Robotics
  • Conveyors
  • Tracking
  • Assembly

Cite this

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title = "Ring on the hook: placing a ring on a moving and pendulating hook based on visual input",
abstract = "Purpose – The purpose of this paper is to describe a robot vision system which put rings on hooks that are moving freely on a conveyor belt. The hook can show a significant swinging which can be well approximated by a pendulum movement. The problem is of large relevance for many industrial applications and the challenge is to compute a 3D pose that is sufficiently precise to allow for successful placements of the rings.Design/methodology/approach – This requires a fast and precise tracking and a compensation for latencies connected to the processing of visual information as well as the actual robot action.Findings – The authors achieve this through a precise pose estimation in a high-resolution stereo setup, as well as a modeling of the hook movement as a combination of a translational and a pendulum movement.Originality/value – The paper shows that under normal conditions close to 100 percent success can be achieved such that this technology now can be transferred into industrial systems.",
keywords = "Robotics, Conveyors, Tracking, Assembly",
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journal = "Industrial Robot: the international journal of robotics research and application",
issn = "0143-991X",
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Ring on the hook: placing a ring on a moving and pendulating hook based on visual input. / Kjær-Nielsen, Anders; Buch, Anders Glent; Jensen, Andreas Kryger; Møller, Bent; Kraft, Dirk; Krüger, Norbert; Petersen, Henrik Gordon; Ellekilde, Lars-Peter.

In: Industrial Robot: the international journal of robotics research and application, Vol. 38, No. 3, 2011, p. 301-314.

Research output: Contribution to journalJournal articleResearchpeer-review

TY - JOUR

T1 - Ring on the hook: placing a ring on a moving and pendulating hook based on visual input

AU - Kjær-Nielsen, Anders

AU - Buch, Anders Glent

AU - Jensen, Andreas Kryger

AU - Møller, Bent

AU - Kraft, Dirk

AU - Krüger, Norbert

AU - Petersen, Henrik Gordon

AU - Ellekilde, Lars-Peter

PY - 2011

Y1 - 2011

N2 - Purpose – The purpose of this paper is to describe a robot vision system which put rings on hooks that are moving freely on a conveyor belt. The hook can show a significant swinging which can be well approximated by a pendulum movement. The problem is of large relevance for many industrial applications and the challenge is to compute a 3D pose that is sufficiently precise to allow for successful placements of the rings.Design/methodology/approach – This requires a fast and precise tracking and a compensation for latencies connected to the processing of visual information as well as the actual robot action.Findings – The authors achieve this through a precise pose estimation in a high-resolution stereo setup, as well as a modeling of the hook movement as a combination of a translational and a pendulum movement.Originality/value – The paper shows that under normal conditions close to 100 percent success can be achieved such that this technology now can be transferred into industrial systems.

AB - Purpose – The purpose of this paper is to describe a robot vision system which put rings on hooks that are moving freely on a conveyor belt. The hook can show a significant swinging which can be well approximated by a pendulum movement. The problem is of large relevance for many industrial applications and the challenge is to compute a 3D pose that is sufficiently precise to allow for successful placements of the rings.Design/methodology/approach – This requires a fast and precise tracking and a compensation for latencies connected to the processing of visual information as well as the actual robot action.Findings – The authors achieve this through a precise pose estimation in a high-resolution stereo setup, as well as a modeling of the hook movement as a combination of a translational and a pendulum movement.Originality/value – The paper shows that under normal conditions close to 100 percent success can be achieved such that this technology now can be transferred into industrial systems.

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KW - Conveyors

KW - Tracking

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