Vision-guided Dynamic Object Grasping of Robotic Manipulators

Abstract

In order to achieve object grasping in dynamic environments for robotic manipulators, effective decisions should be made after the environment perception. When the object is moving, a moving object tracking algorithm is designed to track the object and finally realize the grasping manipulation. Based on the Robot Operating System (ROS), object grasping experiments are carried out on a 5-DOF robotic manipulator. The robotic manipulator can effectively grasp the objects on the conveyor belt, and those objects with random motion. The experimental results indicate that the moving object tracking algorithm in very effective to finish the object grasping in dynamic environments.