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Minimize tracking occlusion in collaborative pick-and-place tasks: An analytical approach for non-wrist-partitioned manipulators

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Montazer Zohour, Hamed, Belzile, Bruno, Gomes Braga, Rafael and St-Onge, David. 2022. « Minimize tracking occlusion in collaborative pick-and-place tasks: An analytical approach for non-wrist-partitioned manipulators ». Sensors, vol. 22, nº 17.
Compte des citations dans Scopus : 1.

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Abstract

Several industrial pick-and-place applications, such as collaborative assembly lines, rely on visual tracking of the parts. Recurrent occlusions are caused by the manipulator motion decrease line productivity and can provoke failures. This work provides a complete solution for maintaining the occlusion-free line of sight between a variable-pose camera and the object to be picked by a 6R manipulator that is not wrist-partitioned. We consider potential occlusions by the manipulator as well as the operator working at the assembly station. An actuated camera detects the object goal (part to pick) and keeps track of the operator. The approach consists of using the complete set of solutions obtained from the derivation of the univariate polynomial equation solution to the inverse kinematics (IK). Compared to numerical iterative solving methods, our strategy grants us a set of joint positions (posture) for each root of the equation from which we extract the best (minimizing the risks of occlusion). Our analytical-based method, integrating collision and occlusion avoidance optimizations, can contribute to greatly enhancing the efficiency and safety of collaborative assembly workstations. We validate our approach with simulations as well as with physical deployments on commercial hardware.

Item Type: Peer reviewed article published in a journal
Professor:
Professor
St-Onge, David
Affiliation: Génie mécanique
Date Deposited: 01 Sep 2022 14:28
Last Modified: 01 Sep 2022 20:20
URI: https://espace2.etsmtl.ca/id/eprint/25159

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