3D Vision-guided Pick-and-Place Using Kuka LBR iiwa Robot

Hanlin Niu; Ze Ji; Zihang Zhu; Hujun Yin; Joaquin Carrasco

3D Vision-guided Pick-and-Place Using Kuka LBR iiwa Robot

Robotics 2021-02-24 v2 Computer Vision and Pattern Recognition

Authors: Hanlin Niu , Ze Ji , Zihang Zhu , Hujun Yin , Joaquin Carrasco

Abstract

This paper presents the development of a control system for vision-guided pick-and-place tasks using a robot arm equipped with a 3D camera. The main steps include camera intrinsic and extrinsic calibration, hand-eye calibration, initial object pose registration, objects pose alignment algorithm, and pick-and-place execution. The proposed system allows the robot be able to to pick and place object with limited times of registering a new object and the developed software can be applied for new object scenario quickly. The integrated system was tested using the hardware combination of kuka iiwa, Robotiq grippers (two finger gripper and three finger gripper) and 3D cameras (Intel realsense D415 camera, Intel realsense D435 camera, Microsoft Kinect V2). The whole system can also be modified for the combination of other robotic arm, gripper and 3D camera.

Keywords

pick-and-place 3d vision kuka lbr iiwa hand-eye calibration pose alignment robotiq gripper

Cite

@article{arxiv.2102.10710,
  title  = {3D Vision-guided Pick-and-Place Using Kuka LBR iiwa Robot},
  author = {Hanlin Niu and Ze Ji and Zihang Zhu and Hujun Yin and Joaquin Carrasco},
  journal= {arXiv preprint arXiv:2102.10710},
  year   = {2021}
}

3D Vision-guided Pick-and-Place Using Kuka LBR iiwa Robot

Abstract

Keywords

Cite

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