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Integration of Computervision and Artificial Intelligence Subsystems with Robot Operating System Based Motion Planning for Industrial Robots

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Abstract

The paper proposes flexible system that is based on Robot Operating System framework for integration of 3D computer vision and artificial intelligence algorithms with industrial robots for automation of industrial tasks. The system provides flexibility of 3D computer vision hardware and industrial robot components, allowing to test different hardware with small software changes. The experimental system consisting of Kinect V2 RGB+Depth camera and Universal Robots UR5 robot was set up. In experimental setup the pick and place task was implemented where randomly organized two types of objects (tubes and cans) where picked from the container and sorted in two separate containers. Average full cycle time for the task was measured to be 19.675 s.

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ACKNOWLEDGMENTS

The research leading to these results has received funding from the research project “Competency Centre of Latvian Electric and Optical Equipment Productive Industry” of EU Structural funds, contract no. 1.2.1.1/16/A/002 signed between LEO Competence Centre and Central Finance and Contracting Agency, Research no. 11 “The research on the development of computer vision techniques for the automation of industrial processes.”

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  1. Institute of Electronics and Computer Science, LV-1006, Riga, Latvia

    Janis Arents, Ricards Cacurs & Modris Greitans

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  1. Janis Arents
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  2. Ricards Cacurs
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  3. Modris Greitans
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Correspondence to Janis Arents, Ricards Cacurs or Modris Greitans.

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Janis Arents, Cacurs, R. & Greitans, M. Integration of Computervision and Artificial Intelligence Subsystems with Robot Operating System Based Motion Planning for Industrial Robots. Aut. Control Comp. Sci. 52, 392–401 (2018). https://doi.org/10.3103/S0146411618050024

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