ROBOT TCP POSITIONING WITH VISION - Accuracy Estimation of a Robot Visual Control System

Author(s):  
Robinson Jimenez-Moreno ◽  
Astrid Rubiano ◽  
Jose L. Ramirez

Assistance robotics is presented as a means of improving the quality of life of people with disabilities, an application case is presented in assisted feeding. This paper presents the development of a system based on artificial intelligence techniques, for the grip of a glass, so that it does not slip during its manipulation by means of a robotic arm, as the liquid level varies. A faster R-CNN is used for the detection of the glass and the arm's gripper, and from the data obtained by the network, the mass of the beverage is estimated, and a delta of distance between the gripper and the liquid. These estimated values are used as inputs for a fuzzy system which has as output the torque that the motor that drives the gripper must exert. It was possible to obtain a 97.3% accuracy in the detection of the elements of interest in the environment with the faster R-CNN, and a 76% performance in the grips of the glass through the fuzzy algorithm.


2020 ◽  
Vol 1550 ◽  
pp. 062006
Author(s):  
Bing Liu ◽  
Bin Zhan ◽  
Changda Zhang ◽  
Lisi Yang

AORN Journal ◽  
1965 ◽  
Vol 3 (2) ◽  
pp. 79-82
Author(s):  
Lucy Jo Atkinson ◽  
Ellen Brazell

1996 ◽  
Vol 29 (1) ◽  
pp. 343-348 ◽  
Author(s):  
Wen-Chung Chang ◽  
A.S. Morse ◽  
Gregory D. Hager

2021 ◽  
Vol 30 (1) ◽  
pp. 403
Author(s):  
Ewa Katarzyna Czech

<p>The Voivodeship Administrative Court in Bialystok, in its judgement of 9 June 2020, dismissing the complaint of the limited liability company in H., on the post-inspection orders of the Podlaskie Voivodeship Inspector for Environmental Protection in Bialystok of 6 November 2019, considered the necessity to fulfill the obligation under Article 25 para. 6a of the Act on Waste, i.e. the operation of a visual control system for the place of waste storage, in force, in the opinion of the Court, from February 2019, despite the lack of executive acts issued by the competent minister. Determining the requirements for the visual control system of the place of storage or storage of waste, the minimum requirements for the technical devices of the vision control system and the requirements for the storage and sharing of the recorded image, guided by the need to enable supervision over the activities in the field of waste management, was established pursuant to the provisions of the Regulation of 29 August 2019 which entered into force in December 2019. In the opinion of the Court, the provisions of the Act on Waste do not have to be met together with the provisions issued on the basis of the Regulation, as the standards of the implementing acts only supplement the general conditions resulting from the statutory provisions.</p>


Sign in / Sign up

Export Citation Format

Share Document