Image recognition application for robotic manipulation of moving objects

Andrea Builes Gomez; Julio Cesar Correa Rodriguez; Jorge Mario Londono; Esteban Palacio Velasquez

doi:10.1109/CCAC.2015.7345206

Image recognition application for robotic manipulation of moving objects

Andrea Builes Gomez, Julio Cesar Correa Rodriguez, Jorge Mario Londono, Esteban Palacio Velasquez

Research output: Chapter in Book/Report/Conference proceeding › Conference and proceedings › peer-review

4 Scopus citations

Abstract

In this paper, an integration between a computer vision system and an industrial robot is simulated, in order to select and to position simple geometric shapes which are on a moving conveyor belt. To do so, a programming code was developed in the software Matlab®, capable to do the image processing tasks needed to obtain the desired object's centroid. Subsequently, an inverse kinematics analysis is made so the trajectory that the robot must follow to position the shape is generated. The code's main features is the possibility to choose among different shapes as triangles, rectangles, circles and so on; and that the found object's centroid is presented in world units (i.g. millimeters).

Original language	English
Title of host publication	2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings
Editors	Gustavo Adolfo Osorio
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781467393058
DOIs	https://doi.org/10.1109/CCAC.2015.7345206
State	Published - 2 Dec 2015
Event	2nd IEEE Colombian Conference on Automatic Control, CCAC 2015 - Manizales, Colombia Duration: 14 Oct 2015 → 16 Oct 2015

Publication series

Name	2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings

Conference

Conference	2nd IEEE Colombian Conference on Automatic Control, CCAC 2015
Country/Territory	Colombia
City	Manizales
Period	14/10/15 → 16/10/15

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

Keywords

computer vision
integration
invariant moments
serial robotic manipulator
simulation

Access to Document

10.1109/CCAC.2015.7345206

Cite this

Gomez, A. B., Rodriguez, J. C. C., Londono, J. M., & Velasquez, E. P. (2015). Image recognition application for robotic manipulation of moving objects. In G. A. Osorio (Ed.), 2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings Article 7345206 (2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCAC.2015.7345206

Gomez, Andrea Builes ; Rodriguez, Julio Cesar Correa ; Londono, Jorge Mario et al. / Image recognition application for robotic manipulation of moving objects. 2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings. editor / Gustavo Adolfo Osorio. Institute of Electrical and Electronics Engineers Inc., 2015. (2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings).

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abstract = "In this paper, an integration between a computer vision system and an industrial robot is simulated, in order to select and to position simple geometric shapes which are on a moving conveyor belt. To do so, a programming code was developed in the software Matlab{\textregistered}, capable to do the image processing tasks needed to obtain the desired object's centroid. Subsequently, an inverse kinematics analysis is made so the trajectory that the robot must follow to position the shape is generated. The code's main features is the possibility to choose among different shapes as triangles, rectangles, circles and so on; and that the found object's centroid is presented in world units (i.g. millimeters).",

keywords = "computer vision, integration, invariant moments, serial robotic manipulator, simulation",

author = "Gomez, {Andrea Builes} and Rodriguez, {Julio Cesar Correa} and Londono, {Jorge Mario} and Velasquez, {Esteban Palacio}",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 2nd IEEE Colombian Conference on Automatic Control, CCAC 2015 ; Conference date: 14-10-2015 Through 16-10-2015",

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Gomez, AB, Rodriguez, JCC, Londono, JM & Velasquez, EP 2015, Image recognition application for robotic manipulation of moving objects. in GA Osorio (ed.), 2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings., 7345206, 2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings, Institute of Electrical and Electronics Engineers Inc., 2nd IEEE Colombian Conference on Automatic Control, CCAC 2015, Manizales, Colombia, 14/10/15. https://doi.org/10.1109/CCAC.2015.7345206

Image recognition application for robotic manipulation of moving objects. / Gomez, Andrea Builes; Rodriguez, Julio Cesar Correa; Londono, Jorge Mario et al.
2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings. ed. / Gustavo Adolfo Osorio. Institute of Electrical and Electronics Engineers Inc., 2015. 7345206 (2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference and proceedings › peer-review

TY - GEN

T1 - Image recognition application for robotic manipulation of moving objects

AU - Gomez, Andrea Builes

AU - Rodriguez, Julio Cesar Correa

AU - Londono, Jorge Mario

AU - Velasquez, Esteban Palacio

PY - 2015/12/2

Y1 - 2015/12/2

N2 - In this paper, an integration between a computer vision system and an industrial robot is simulated, in order to select and to position simple geometric shapes which are on a moving conveyor belt. To do so, a programming code was developed in the software Matlab®, capable to do the image processing tasks needed to obtain the desired object's centroid. Subsequently, an inverse kinematics analysis is made so the trajectory that the robot must follow to position the shape is generated. The code's main features is the possibility to choose among different shapes as triangles, rectangles, circles and so on; and that the found object's centroid is presented in world units (i.g. millimeters).

AB - In this paper, an integration between a computer vision system and an industrial robot is simulated, in order to select and to position simple geometric shapes which are on a moving conveyor belt. To do so, a programming code was developed in the software Matlab®, capable to do the image processing tasks needed to obtain the desired object's centroid. Subsequently, an inverse kinematics analysis is made so the trajectory that the robot must follow to position the shape is generated. The code's main features is the possibility to choose among different shapes as triangles, rectangles, circles and so on; and that the found object's centroid is presented in world units (i.g. millimeters).

KW - computer vision

KW - integration

KW - invariant moments

KW - serial robotic manipulator

KW - simulation

UR - http://www.scopus.com/inward/record.url?scp=84960404736&partnerID=8YFLogxK

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DO - 10.1109/CCAC.2015.7345206

M3 - Ponencia publicada en las memorias del evento con ISBN

AN - SCOPUS:84960404736

T3 - 2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings

BT - 2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings

A2 - Osorio, Gustavo Adolfo

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2nd IEEE Colombian Conference on Automatic Control, CCAC 2015

Y2 - 14 October 2015 through 16 October 2015

ER -

Gomez AB, Rodriguez JCC, Londono JM, Velasquez EP. Image recognition application for robotic manipulation of moving objects. In Osorio GA, editor, 2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc. 2015. 7345206. (2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings). doi: 10.1109/CCAC.2015.7345206

Image recognition application for robotic manipulation of moving objects

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