The Integration of the Image Sensor with a 3-DOF Pneumatic Parallel Manipulator
The study aims to integrate the image sensor for a three-axial pneumatic parallel manipulator which can pick and place objects automatically by the feature information of the image processed through the SURF algorithm. The SURF algorithm is adopted for defining and matching the features of a target...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2016-07-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/16/7/1026 |
| _version_ | 1798002504902901760 |
|---|---|
| author | Hao-Ting Lin Mao-Hsiung Chiang |
| author_facet | Hao-Ting Lin Mao-Hsiung Chiang |
| author_sort | Hao-Ting Lin |
| collection | DOAJ |
| description | The study aims to integrate the image sensor for a three-axial pneumatic parallel manipulator which can pick and place objects automatically by the feature information of the image processed through the SURF algorithm. The SURF algorithm is adopted for defining and matching the features of a target object and an object database. In order to accurately mark the center of target and strengthen the feature matching results, the random sample and consensus method (RANSAC) is utilized. The ASUS Xtion Pro Live depth camera which can directly estimate the 3-D location of the target point is used in this study. A set of coordinate estimation calibrations is developed for enhancing the accuracy of target location estimation. This study also presents hand gesture recognition exploiting skin detection and noise elimination to determine the active finger count for input signals of the parallel manipulator. The end-effector of the parallel manipulator can be manipulated to the desired poses according to the measured finger count. Finally, the proposed methods are successfully to achieve the feature recognition and pick and place of the target object. |
| first_indexed | 2024-04-11T11:54:21Z |
| format | Article |
| id | doaj.art-8ad57abad8d145bd9de31cadf44fd350 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T11:54:21Z |
| publishDate | 2016-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-8ad57abad8d145bd9de31cadf44fd3502022-12-22T04:25:14ZengMDPI AGSensors1424-82202016-07-01167102610.3390/s16071026s16071026The Integration of the Image Sensor with a 3-DOF Pneumatic Parallel ManipulatorHao-Ting Lin0Mao-Hsiung Chiang1Department of Mechanical and Computer-Aided Engineering, Feng Chia University, No. 100, Wenhwa Road, Seatwen, Taichung 40724, TaiwanDepartment of Engineering Science and Ocean Engineering, National Taiwan University, No. 1, Sec. 4, Roosevelt Rd., Taipei 106, TaiwanThe study aims to integrate the image sensor for a three-axial pneumatic parallel manipulator which can pick and place objects automatically by the feature information of the image processed through the SURF algorithm. The SURF algorithm is adopted for defining and matching the features of a target object and an object database. In order to accurately mark the center of target and strengthen the feature matching results, the random sample and consensus method (RANSAC) is utilized. The ASUS Xtion Pro Live depth camera which can directly estimate the 3-D location of the target point is used in this study. A set of coordinate estimation calibrations is developed for enhancing the accuracy of target location estimation. This study also presents hand gesture recognition exploiting skin detection and noise elimination to determine the active finger count for input signals of the parallel manipulator. The end-effector of the parallel manipulator can be manipulated to the desired poses according to the measured finger count. Finally, the proposed methods are successfully to achieve the feature recognition and pick and place of the target object.http://www.mdpi.com/1424-8220/16/7/1026image recognitionparallel manipulatorpneumatic servo systemspeed up robust feature algorithmrandom sample and consensus algorithmhand gesture recognition |
| spellingShingle | Hao-Ting Lin Mao-Hsiung Chiang The Integration of the Image Sensor with a 3-DOF Pneumatic Parallel Manipulator Sensors image recognition parallel manipulator pneumatic servo system speed up robust feature algorithm random sample and consensus algorithm hand gesture recognition |
| title | The Integration of the Image Sensor with a 3-DOF Pneumatic Parallel Manipulator |
| title_full | The Integration of the Image Sensor with a 3-DOF Pneumatic Parallel Manipulator |
| title_fullStr | The Integration of the Image Sensor with a 3-DOF Pneumatic Parallel Manipulator |
| title_full_unstemmed | The Integration of the Image Sensor with a 3-DOF Pneumatic Parallel Manipulator |
| title_short | The Integration of the Image Sensor with a 3-DOF Pneumatic Parallel Manipulator |
| title_sort | integration of the image sensor with a 3 dof pneumatic parallel manipulator |
| topic | image recognition parallel manipulator pneumatic servo system speed up robust feature algorithm random sample and consensus algorithm hand gesture recognition |
| url | http://www.mdpi.com/1424-8220/16/7/1026 |
| work_keys_str_mv | AT haotinglin theintegrationoftheimagesensorwitha3dofpneumaticparallelmanipulator AT maohsiungchiang theintegrationoftheimagesensorwitha3dofpneumaticparallelmanipulator AT haotinglin integrationoftheimagesensorwitha3dofpneumaticparallelmanipulator AT maohsiungchiang integrationoftheimagesensorwitha3dofpneumaticparallelmanipulator |