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Vision-based Impedance Control of a 7-DOF Robotic Manipulator for Pick-and-Place Tasks in Grasping Fruits
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A vision-based impedance control method is applied to a 7-degree-of-freedom (7-DOF) Franka Emika (FE) Panda robotic manipulator to complete pick-and-place tasks with human-like grasping of fruits. The interfaces between different hardware and the controller are developed using robotic operating system (ROS). You-Only-Look-Once (YOLOv5) object detection algorithm is trained for fruits and employed for capturing the location of the targeted objects. A qb-SoftHand robotic hand is used as the end-effector for the grasping tasks. By integrating these components together through ROS, the FE Panda robot successfully achieves autonomous human-like pick-and-place tasks as shown in the experimental results.
Part of the Proceedings of the Canadian Society for Mechanical Engineering International Congress 2022
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- Date created
- 2022-06-01
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- Type of Item
- Article (Published)