The Integration of the Image Sensor with a 3-DOF Pneumatic Parallel Manipulator

The study aims to integrate the image sensor for a three-axial pneumatic parallel manipulator which can pick and place objects automatically by the feature information of the image processed through the SURF algorithm. The SURF algorithm is adopted for defining and matching the features of a target object and an object database. In order to accurately mark the center of target and strengthen the feature matching results, the random sample and consensus method (RANSAC) is utilized. The ASUS Xtion Pro Live depth camera which can directly estimate the 3-D location of the target point is used in this study. A set of coordinate estimation calibrations is developed for enhancing the accuracy of target location estimation. This study also presents hand gesture recognition exploiting skin detection and noise elimination to determine the active finger count for input signals of the parallel manipulator. The end-effector of the parallel manipulator can be manipulated to the desired poses according to the measured finger count. Finally, the proposed methods are successfully to achieve the feature recognition and pick and place of the target object.

[1]  Fernando Torres Medina,et al.  3D Visual Data-Driven Spatiotemporal Deformations for Non-Rigid Object Grasping Using Robot Hands , 2016, Sensors.

[2]  Zhengyou Zhang,et al.  A Flexible New Technique for Camera Calibration , 2000, IEEE Trans. Pattern Anal. Mach. Intell..

[3]  John R. Kender,et al.  Toward the use of gesture in traditional user interfaces , 1996, Proceedings of the Second International Conference on Automatic Face and Gesture Recognition.

[4]  Yann LeCun,et al.  Boxlets: A Fast Convolution Algorithm for Signal Processing and Neural Networks , 1998, NIPS.

[5]  Paul A. Viola,et al.  Rapid object detection using a boosted cascade of simple features , 2001, Proceedings of the 2001 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. CVPR 2001.

[6]  Bernhard P. Wrobel,et al.  Multiple View Geometry in Computer Vision , 2001 .

[7]  Mao-Hsiung Chiang,et al.  Development of a 3D Parallel Mechanism Robot Arm with Three Vertical-Axial Pneumatic Actuators Combined with a Stereo Vision System , 2011, Sensors.

[8]  G LoweDavid,et al.  Distinctive Image Features from Scale-Invariant Keypoints , 2004 .

[9]  Matthew A. Brown,et al.  Invariant Features from Interest Point Groups , 2002, BMVC.

[10]  周炯,et al.  Kind of static method and system for object reconstruction , 2014 .

[11]  Gye-Young Kim,et al.  Robust Estimation of Camera Homography Using Fuzzy RANSAC , 2007, ICCSA.

[12]  Christopher G. Harris,et al.  A Combined Corner and Edge Detector , 1988, Alvey Vision Conference.

[13]  Mao-Hsiung Chiang,et al.  Development of a Stereo Vision Measurement System for a 3D Three-Axial Pneumatic Parallel Mechanism Robot Arm , 2011, Sensors.

[14]  Michael Hayes,et al.  Altitude control of a quadrotor helicopter using depth map from Microsoft Kinect sensor , 2011, 2011 IEEE International Conference on Mechatronics.

[15]  Francis Quek,et al.  Comparison of five color models in skin pixel classification , 1999, Proceedings International Workshop on Recognition, Analysis, and Tracking of Faces and Gestures in Real-Time Systems. In Conjunction with ICCV'99 (Cat. No.PR00378).

[16]  Ming Xie,et al.  Finger identification and hand posture recognition for human-robot interaction , 2007, Image Vis. Comput..

[17]  Azriel Rosenfeld,et al.  Sequential Operations in Digital Picture Processing , 1966, JACM.