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Grasping objects with a cable-driven parallel robot designed for transfer operation by visual servoing

Remi Ramadour 1, 2 François Chaumette 1 Jean-Pierre Merlet 2
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
2 HEPHAISTOS - HExapode, PHysiologie, AssISTance et Objets de Service
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : Our objective is to extend the assistance function- alities of the cable-driven parallel robot Marionet-Assist, designed principally for transfer operation, by allowing it to grasp usual objects (knives, box of medicines, phone, ***) by using visual servoing. Our crane robot has a configuration that provides three translational d.o.f., and a camera was added to its end-effector. In order to compute the translational velocity sent to the robot controller, the area and center of gravity in the image of the object to be grasped are used. Experimental results are presented. They show the robustness of our scheme with respect to modeling errors and an excellent positioning accuracy allowing grasping.
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Remi Ramadour, François Chaumette, Jean-Pierre Merlet. Grasping objects with a cable-driven parallel robot designed for transfer operation by visual servoing. IEEE Int. Conf. on Robotics and Automation, ICRA'14, Jun 2014, Hong-Kong, Hong Kong SAR China. ⟨hal-00949346⟩

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