Vision-based Impedance Control of a 7-DOF Robotic Manipulator for Pick-and-Place Tasks in Grasping Fruits

• Author(s) / Creator(s)

  • Chen, Qiguang
  • Wan, Lucas
  • Ravichadran, Prabahar
  • Pan, Ya-Jun
  • Chang, Young Ki

• 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

• Date created

  2022-06-01

• Subjects / Keywords

  • 7-DOF robotic manipulator
  • impedance control
  • pick-and-place task
  • ROS
  • YOLOv5 object detection

• Type of Item

  Article (Published)

• DOI

  https://doi.org/10.7939/r3-s2px-f403

• License

  Attribution-NonCommercial 4.0 International