Publication:
Real-time path planning tracing of deformable object by robot

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dc.citedby6
dc.contributor.authorSahari K.S.M.en_US
dc.contributor.authorSeki H.en_US
dc.contributor.authorKamiya Y.en_US
dc.contributor.authorHikizu M.en_US
dc.contributor.authorid57218170038en_US
dc.contributor.authorid7202492680en_US
dc.contributor.authorid35508847400en_US
dc.contributor.authorid6506780601en_US
dc.date.accessioned2023-12-28T07:17:49Z
dc.date.available2023-12-28T07:17:49Z
dc.date.issued2010
dc.description.abstractEdge tracing is considered important for deformable object manipulation in order to spread and reveal the original shape of an object before it can be sorted. This paper proposes a unique real-time path-planning tracing method for clothes manipulation by robots. Tracing in this paper context involves tracing the clothes edge, with the robot arm movement based on the calculated path and feedback from sensors. Using tracing method to find a second corner has been proven to be efficient in finding a second corner next to the first corner and not apposite it, resulting in the robot properly spreading the clothes. Adequate force control is also applied to the gripper during tracing so that it doesn't grip the clothes too hard or vice versa which can affect the performance of the robot. Vision sensor is used from time to time to check whether the static gripper has reached the second corner or not. Practical experiments were conducted to evaluate the proposed method. Experimental results have demonstrated the uniqueness and effectiveness of the proposed method.en_US
dc.description.natureFinalen_US
dc.identifier.doi10.21307/ijssis-2017-406
dc.identifier.epage535
dc.identifier.issue3
dc.identifier.scopus2-s2.0-79551590450
dc.identifier.spage521
dc.identifier.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-79551590450&doi=10.21307%2fijssis-2017-406&partnerID=40&md5=b24f2dd909c1f28fa8ca3a30e5757e23
dc.identifier.urihttps://irepository.uniten.edu.my/handle/123456789/29633
dc.identifier.volume3
dc.pagecount14
dc.publisherExeley Incen_US
dc.relation.ispartofAll Open Access; Gold Open Access; Green Open Access
dc.sourceScopus
dc.sourcetitleInternational Journal on Smart Sensing and Intelligent Systems
dc.subjectDeformable object manipulation
dc.subjectHome service robot
dc.subjectImage processing
dc.subjectPath-planning
dc.subjectSensors
dc.subjectDeformation
dc.subjectGrippers
dc.subjectImage processing
dc.subjectMotion planning
dc.subjectReal time systems
dc.subjectRobot programming
dc.subjectSensors
dc.subjectDeformable object
dc.subjectDeformable object manipulations
dc.subjectEdge tracing
dc.subjectHome service robot
dc.subjectReal time path planning
dc.subjectRobot arms
dc.subjectTracing method
dc.subjectVision sensors
dc.subjectVisual servoing
dc.titleReal-time path planning tracing of deformable object by roboten_US
dc.typeArticleen_US
dspace.entity.typePublication
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