mycoreobjectrosdok_disshab_0000001758rosdok_disshab_0000001758rosdokdisshabrosdok_derivate_00000371912023-08-08T10:08:06.718Z2017-07-13T10:46:21.580ZadministratoreditorDpublished1rosdok_derivate_0000037191truetruederivate_types:fulltextVolltextfulltextwf_edit_epub wf_register_epubstate:publishedstate:publishedveröffentlichtpublishedrosdok/id00001936893588539MODS updated during RosDok migration in June 2021DissertationHochschulschrift1136746420Mohammed MyasarAli1982-VerfasserInautHigh-precision grasping and placing for mobile robotsen121586480Prof. Dr. -Ing. habil.KerstinThurowRostock University, Institute of AutomationAkademischeR BetreuerIndgs1018462961PD Dr.-Ing. habil.HeidiFleischerRostock University, Institute of AutomationAkademischeR BetreuerIndgs132966131Prof. Dr.-Ing.EgonMüllerTU Chemnitz, Faculty of Mechanical EngineeringAkademischeR BetreuerIndgs10085032-7Universität RostockFakultät für Informatik und ElektrotechnikGrad-verleihende Institutiondgg10.18453/rosdok_id00001936http://purl.uni-rostock.de/rosdok/id00001936urn:nbn:de:gbv:28-diss2017-0100-6000 Allgemeines, Wissenschaft004 InformatikFakultät für Informatik und Elektrotechnikfrei zugänglich (Open Access)Lizenz Metadaten: CC0Nutzungsrechte erteiltalle Rechte vorbehaltenUniversität RostockRostock2017monographic20172017Universitätsbibliothek RostockRostock20172017This 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.mobile robotsarm control and kinematic analysisobject detection and localizationgrasping and placing operation of multiple labwareUniversitätsbibliothek Rostockhttp://purl.uni-rostock.de/rosdok/id00001936doctype:epubdoctype:epubDokumenttypDocument typedoctype:epub.dissertationdoctype:epub.dissertationDissertationdoctoral thesisdiniPublType:doctoralThesis diniPublType2022:PhDThesis XMetaDissPlusThesisLevel:thesis.doctoralinfo:eu-repo/semantics/doctoralThesisdocumentnatureOfContent:ppn_105825778natureOfContent:ppn_105825778HochschulschriftdiniPublType2022:DoctoralThesisdiniPublType2022:DoctoralThesisDissertation oder HabilitationDoctoral thesisDRIVERdiniPublType2022:PhDThesisdiniPublType2022:PhDThesisDissertationPhD thesisKDSF (Pu34)XMetaDissPlusThesisLevel:thesis.doctoralXMetaDissPlusThesisLevel:thesis.doctoralDoktorarbeitdoctoral thesisrfc5646:enrfc5646:enEnglischEnglishengengSDNB:000SDNB:000000 Allgemeines, Wissenschaft000 Generalities, ScienceSDNB:004SDNB:004004 Informatik004 Data processing Computer sciencesinstitution:unirostockinstitution:unirostockUniversität RostockUniversity of RostockUniversität RostockUniversität RostockUni.Rostockhttp://d-nb.info/gnd/38329-6institution:unirostock.iefinstitution:unirostock.iefFakultät für Informatik und ElektrotechnikFaculty of Computer Science and Electrical EngineeringUniversität Rostock. Fakultät für Informatik und ElektrotechnikFakultät für Informatik<br />und ElektrotechnikUni.Rostock.Fakultaet.IEFhttp://d-nb.info/gnd/10085032-7accesscondition:openaccessaccesscondition:openaccessfrei zugänglich (Open Access)open accesshttp://purl.org/coar/access_right/c_abf2OAfreeinfo:eu-repo/semantics/openAccess[DE-28]Open Access$gControlled Vocabulary for Access Rights$uhttp://purl.org/coar/access_right/c_abf2licenseinfo:metadatalicenseinfo:metadataLizenzen für Metadatenlicenseinfo:metadata.cc0licenseinfo:metadata.cc0Lizenz Metadaten: CC0license metadata: CC0/creativecommons/p/zero/1.0/88x31.pnghttps://creativecommons.org/publicdomain/zero/1.0/licenseinfo:depositlicenseinfo:depositVeröffentlichungsgenehmigungpermission to storelicenseinfo:deposit.rightsgrantedlicenseinfo:deposit.rightsgrantedNutzungsrechte erteiltrights grantedlicenseinfo:worklicenseinfo:workWerkworklicenseinfo:work.rightsreservedlicenseinfo:work.rightsreservedalle Rechte vorbehaltenall rights reserved/creativecommons/r/reserved/0.9/88x31.png[DE-28]Urheberrechtsschutz 1.0$gRights Statements$uhttp://rightsstatements.org/vocab/InC/1.0/http://rightsstatements.org/vocab/InC/1.0/http://rightsstatements.org/vocab/InC/1.0/High-precision grasping and placing for mobile robotsHigh-precision grasping and placing for mobile robotsgnd:1136746420gnd:121586480gnd:1018462961gnd:132966131gnd:10085032-7gnd:1136746420gnd:121586480gnd:1018462961gnd:132966131gnd:10085032-7rosdok_disshab_0000001758-d12226e39gnd:1136746420Mohammed Myasar AliMohammed Myasar Alirosdok_disshab_0000001758-d12226e60gnd:121586480Prof. Dr. -Ing. habil. 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Egon MüllerUniversität Rostock Fakultät für Informatik und ElektrotechnikMohammed Myasar AliRostockUniversität Rostockepub.dissertation10.18453/rosdok_id00001936http://purl.uni-rostock.de/rosdok/id00001936urn:nbn:de:gbv:28-diss2017-0100-6mobile robotsarm control and kinematic analysisobject detection and localizationgrasping and placing operation of multiple labwareThis 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. 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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. 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Kerstin ThurowProf. Dr. -Ing. habil. Kerstin Thurowrosdok_disshab_0000001758-d12226e75gnd:1018462961PD Dr.-Ing. habil. Heidi FleischerPD Dr.-Ing. habil. Heidi Fleischerrosdok_disshab_0000001758-d12226e90gnd:132966131Prof. Dr.-Ing. Egon MüllerProf. Dr.-Ing. Egon Müllerrosdok_disshab_0000001758-d12226e106gnd:10085032-7Universität Rostock Fakultät für Informatik und ElektrotechnikUniversität Rostock Fakultät für Informatik und ElektrotechnikMohammed Myasar AliProf. Dr. -Ing. habil. Kerstin ThurowPD Dr.-Ing. habil. Heidi FleischerProf. Dr.-Ing. Egon MüllerUniversität Rostock Fakultät für Informatik und ElektrotechnikMohammed Myasar AliProf. Dr. -Ing. habil. Kerstin ThurowPD Dr.-Ing. habil. Heidi FleischerProf. Dr.-Ing. Egon MüllerUniversität Rostock Fakultät für Informatik und ElektrotechnikMohammed Myasar AliRostockUniversität Rostockepub.dissertation10.18453/rosdok_id00001936http://purl.uni-rostock.de/rosdok/id00001936urn:nbn:de:gbv:28-diss2017-0100-6mobile robotsarm control and kinematic analysisobject detection and localizationgrasping and placing operation of multiple labwareThis 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.20172017[xslt]Saxonrosdok/id00001936https://purl.uni-rostock.de/rosdok/id0000193689358853910.18453/rosdok_id00001936urn:nbn:de:gbv:28-diss2017-0100-6Mohammed Myasar AliAli Mohammed MyasarHigh-precision grasping and placing for mobile robotsDissertationdoctoral thesisUniversität Rostock, 2017This 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…Mohammed Myasar AliHigh-precision grasping and placing for mobile robotsUniversitätsbibliothek Rostockhttp://purl.uni-rostock.de/rosdok/id000019361136746420Mohammed MyasarAli1982-VerfasserInaut121586480Prof. Dr. -Ing. habil.KerstinThurowRostock University, Institute of AutomationAkademischeR BetreuerIndgs1018462961PD Dr.-Ing. habil.HeidiFleischerRostock University, Institute of AutomationAkademischeR BetreuerIndgs132966131Prof. Dr.-Ing.EgonMüllerTU Chemnitz, Faculty of Mechanical EngineeringAkademischeR BetreuerIndgs10085032-7Universität RostockFakultät für Informatik und ElektrotechnikGrad-verleihende Institutiondgg[doi]10.18453/rosdok_id00001936[purl]http://purl.uni-rostock.de/rosdok/id00001936[urn]urn:nbn:de:gbv:28-diss2017-0100-6open_access20172017epoch:21th_centuryrfc5646:endoctype:epub.dissertationaccesscondition:openaccessSDNB:000SDNB:004institution:unirostock.iefstate:published