Yi-Chun Du, Taryudi Taryudi, Ching-Tang Tsai, Ming-Shyan Wang
This paper aims to study eye-to-hand robotic tracking and grabbing based on binocular vision. Two cameras placed on different locations gave different three-dimensional coordinates of the object from a binocular vision. The robot then analyzed the dynamic vision acquired from the stereo cameras and tracked the object in three-dimensional space utilizing continuously adaptive mean shift (CAMSHIFT) algorithm. Afterward, inverse and forward kinematics were implemented to move the robotic arm to the appropriate position so that it can grab the object using the end effector. The inverse kinematics was analyzed by a geometric algorithm to reduce the computational burden. Consequently, the experimental results verified that the eye-to-hand system was able to track and grasp the target successfully. © 2019, Springer-Verlag GmbH Germany, part of Springer Nature.
Department of Electrical Engineering, Southern Taiwan University of Science and Technology, Tainan, Taiwan; Faculty of Engineering, Universitas Negeri Jakarta, Jakarta, Indonesia
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