Real-time vision-based grasping randomly placed object by low-cost robotic arm using surf algorithm

Abstract

Vision-Based Manipulation is popular and still have open issues in robotics. The camera is a very important part of this method to obtain desired data with image processing techniques. In this study, the Dynamic position-based look and move method was selected to control the 4 DOF robotic arm. For this method, the Kinect camera was used for image processing. Kinect is a special camera which consists of both RGB and infrared camera. SURF algorithm was selected to detect a target object from the target scene using Kinect RGB camera. 3-D target object localization was calculated using Kinect infrared camera with the point cloud. The obtained target object's location is according to the camera and transformed according to the robotic arm base. Using inverse kinematics, desired joint angles were calculated according to the object position. Therefore, the robot is provided to make the desired motion and grasping the object by using gripper. Real-time implementation of the proposed method is carried out using Matlab-Simulink.