Multi-Manipulator Coordination based on object detection

May 8, 2017

Control the cooperation of multiple simple DOF manipulators for picking and placing tasks based on object recognition using Linemod provided by ORK (Object Recognition Kitchen) library with ROS.

Built two manipulators:

 

The left manipulator had 6 DOF and the right manipulator had 5 DOF, and all motors were dynamixel servo motor. The two manipulator were connected with Arbotix-M Robocontroller which connected with laptop. We utilized arbotix package within ROS to publish joint angle command.

 

This system used Microsoft Kinect as sensor to collect image and the Linemod method of ORK library to match the object based on 3D CAD model, so the system can recognize object and find the orientation of object within the workspace of Kinect.

 

 

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© 2017 by Haiming Gang