Robotic Pick and Assembly Using Deep Learning and Hybrid Vision/Force Control
Published in 2021 International Conference "Nonlinearity, Information and Robotics" (NIR), 2021
Recommended citation: K. Almaghout, R. A. Boby, M. Othman, A. Shaarawy and A. Klimchik, "Robotic Pick and Assembly Using Deep Learning and Hybrid Vision/Force Control," 2021 International Conference "Nonlinearity, Information and Robotics" (NIR), 2021, pp. 1-6, doi: 10.1109/NIR52917.2021.9666138 https://ieeexplore.ieee.org/abstract/document/9666138
Pick up of featureless cylinders using deep learning and assembly using combination of visual and force feedback is discussed in this article. Object detection using YOLO is used for robotic pick in cluttered environments. Assembly of a cylindrical object in a hole with tight clearance uses hybrid control: position control in the assembly plane and force control along the surface normal. Implemented on a KUKA iiwa robot.
IEEE Xplore · ResearchGate PDF
Recommended citation: K. Almaghout, R. A. Boby, M. Othman, A. Shaarawy and A. Klimchik, “Robotic Pick and Assembly Using Deep Learning and Hybrid Vision/Force Control,” 2021 International Conference “Nonlinearity, Information and Robotics” (NIR), 2021, pp. 1-6, doi: 10.1109/NIR52917.2021.9666138.