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Ali,  Mohammed Myasar

High-precision grasping and placing for mobile robots

Rostock : Universität , 2017

https://doi.org/10.18453/rosdok_id00001936

http://purl.uni-rostock.de/rosdok/id00001936

Abstract:

This work presents a manipulation system for multiple labware in life science laboratories using the H20 mobile robots. The H20 robot is equipped with the Kinect V2 sensor to identify and estimate the position of the required labware on the workbench. The local features recognition based on SURF algorithm is used. The recognition process is performed for the labware to be grasped and for the workbench holder. Different grippers and labware containers are designed to manipulate different weights of labware and to realize a safe transportation.

Dissertation Open Access


Einrichtung :
Fakultät für Informatik und Elektrotechnik
Gutachter :
Thurow,  Kerstin  (Prof. Dr. -Ing. habil.)
Fleischer,  Heidi  (PD Dr.-Ing. habil.)
Müller,  Egon  (Prof. Dr.-Ing.)
Jahr der Abgabe:
2017
Jahr der Verteidigung:
2017
Sprache(n) :
Englisch
Schlagworte:
mobile robots, arm control and kinematic analysis, object detection and localization, grasping and placing operation of multiple labware
DDC Klassifikation :
000 Allgemeines, Wissenschaft
004 Informatik
URN :
urn:nbn:de:gbv:28-diss2017-0100-6
Persistente URL:
http://purl.uni-rostock.de/rosdok/id00001936
erstellt am:
2017-07-13
zuletzt geändert am:
2018-06-30
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