Faster R-CNN and 3D reconstruction for handling tasks implementing a Scara robot
This paper presents the design and results of using a deep learning algorithm for robotic manipulation in object handling tasks in a virtual industrial environment. The simulation tool used is V-REP and the environment corresponds to a production line based on a conveyor belt and a SCARA type robot...
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| Format: | Article |
| Language: | English |
| Published: |
Iran University of Science and Technology
2024-11-01
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| Series: | Iranian Journal of Electrical and Electronic Engineering |
| Subjects: | |
| Online Access: | http://ijeee.iust.ac.ir/article-1-3331-en.pdf |
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| _version_ | 1841551028337508352 |
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| author | Julian Herrera-Benavidez Cesar Pachón-Suescún Robinson Jimenez-Moreno |
| author_facet | Julian Herrera-Benavidez Cesar Pachón-Suescún Robinson Jimenez-Moreno |
| author_sort | Julian Herrera-Benavidez |
| collection | DOAJ |
| description | This paper presents the design and results of using a deep learning algorithm for robotic manipulation in object handling tasks in a virtual industrial environment. The simulation tool used is V-REP and the environment corresponds to a production line based on a conveyor belt and a SCARA type robot manipulator. The main contribution of this work focuses on the integration of a depth camera located on the robot and the computation of the gripping coordinates by identifying and locating three different types of objects of interest with random locations on the conveyor belt, through a Faster R-CNN. The results show that the system manages to perform the indicated activities, obtaining a classification accuracy of 97.4% and a mean average precision of 0.93, which allowed a correct detection and manipulation of the objects. |
| format | Article |
| id | doaj-art-e0d14ba734fd4460b190de1a984c5644 |
| institution | Kabale University |
| issn | 1735-2827 2383-3890 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | Iran University of Science and Technology |
| record_format | Article |
| series | Iranian Journal of Electrical and Electronic Engineering |
| spelling | doaj-art-e0d14ba734fd4460b190de1a984c56442025-01-09T18:47:15ZengIran University of Science and TechnologyIranian Journal of Electrical and Electronic Engineering1735-28272383-38902024-11-012043340Faster R-CNN and 3D reconstruction for handling tasks implementing a Scara robotJulian Herrera-Benavidez0Cesar Pachón-Suescún1Robinson Jimenez-Moreno2 Universidad Militar Nueva Granada Universidad Militar Nueva Granada Universidad Militar Nueva Granada This paper presents the design and results of using a deep learning algorithm for robotic manipulation in object handling tasks in a virtual industrial environment. The simulation tool used is V-REP and the environment corresponds to a production line based on a conveyor belt and a SCARA type robot manipulator. The main contribution of this work focuses on the integration of a depth camera located on the robot and the computation of the gripping coordinates by identifying and locating three different types of objects of interest with random locations on the conveyor belt, through a Faster R-CNN. The results show that the system manages to perform the indicated activities, obtaining a classification accuracy of 97.4% and a mean average precision of 0.93, which allowed a correct detection and manipulation of the objects.http://ijeee.iust.ac.ir/article-1-3331-en.pdffaster r-cnnhomogeneous transformation matrixpoint cloudv-rep |
| spellingShingle | Julian Herrera-Benavidez Cesar Pachón-Suescún Robinson Jimenez-Moreno Faster R-CNN and 3D reconstruction for handling tasks implementing a Scara robot Iranian Journal of Electrical and Electronic Engineering faster r-cnn homogeneous transformation matrix point cloud v-rep |
| title | Faster R-CNN and 3D reconstruction for handling tasks implementing a Scara robot |
| title_full | Faster R-CNN and 3D reconstruction for handling tasks implementing a Scara robot |
| title_fullStr | Faster R-CNN and 3D reconstruction for handling tasks implementing a Scara robot |
| title_full_unstemmed | Faster R-CNN and 3D reconstruction for handling tasks implementing a Scara robot |
| title_short | Faster R-CNN and 3D reconstruction for handling tasks implementing a Scara robot |
| title_sort | faster r cnn and 3d reconstruction for handling tasks implementing a scara robot |
| topic | faster r-cnn homogeneous transformation matrix point cloud v-rep |
| url | http://ijeee.iust.ac.ir/article-1-3331-en.pdf |
| work_keys_str_mv | AT julianherrerabenavidez fasterrcnnand3dreconstructionforhandlingtasksimplementingascararobot AT cesarpachonsuescun fasterrcnnand3dreconstructionforhandlingtasksimplementingascararobot AT robinsonjimenezmoreno fasterrcnnand3dreconstructionforhandlingtasksimplementingascararobot |