A Reconfigurable Pick-Place System Under Robot Operating System

被引：3
|
作者：
Ding, Cheng [1 ]
Wu, Jianhua [1 ]
Xiong, Zhenhua [1 ]
Liu, Chao [1 ]
机构：
[1] Shanghai Jiao Tong Univ, 800 Dongchuan Rd, Shanghai 200240, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2018), PT II | 2018年 / 10985卷
基金：
中国国家自然科学基金;
关键词：
Programming by demonstration; Robot operating system; Pick-place;
D O I：
10.1007/978-3-319-97589-4_37
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Pick-place systems are normally programmed manually to finish a task. If work changes, the system has to be reprogrammed which is cumbersome and time-consuming. This paper takes advantage of programming by demonstration (PbD) concept to simplify the programming process. Specifically, we designed a pick-place system under robot operating system (ROS) which could track the teacher's demonstration via object detection and estimate the 6D pose of the object through iterative closest point algorithm. Then the robot could imitate the task through a PbD technique, symbolic reasoning. The experiment shows that the system is reconfigurable and a new pick-place task could be programmed in thirty seconds.
引用
收藏
页码：437 / 448
页数：12
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