This book focuses on end-to-end robotic applications using vision and control algorithms, exposing its readers to design innovative solutions towards sensors-guided robotic bin-picking and assembly in an unstructured environment. The use of sensor fusion is demonstrated through a bin-picking task of texture-less cylindrical objects. The system identification techniques are also discussed for obtaining precise kinematic and dynamic parameters of an industrial robot which facilitates the control schemes to perform pick-and-place tasks autonomously without any interference from the user. The uniqueness of this book lies in a judicious balance between theory and technology within the context of industrial application. Therefore, it will be valuable to researchers working in the area of vision- and force control- based robotics, as well as beginners in this inter-disciplinary area, as it deals with the basics and technologically advanced research strategies.

Strikes a balance between theory and practical demonstration of robotic bin picking and assembly tasks Presents the theory behind sensitivity analysis and system identification of a sensor fused robotic system Helps readers develop an insight into the requirements for building online reactive systems

Autorentext

Dr. Abdullah Aamir Hayat received his Bachelor of Technology in Mechanical Engineering and Master's from the Zakir Hussain College of Engineering and Technology (ZHCET), AMU, India. He completed his Ph.D. in 2018 from the Department of Mechanical Engineering at Indian Institute of Technology (IIT) Delhi. He worked as a Junior Research Fellow (JRF) at the Programme for Autonomous Robotics (PAR) Laboratory under the project granted by BARC/BRNS Mumbai during his Ph.D. He assisted and provided solutions for the research organizations and companies like CMERI Durgapur, Brabo Robotics and Automation, TATA Motors, Pune India, and Oceania Robotics Singapore. He has published several peer reviewed articles, 2 design patents, and reviewed articles for major conferences and journals. His research interests include kinematic identification, calibration, multibody dynamics, design thinking and innovation, and reconfigurable robots. Dr. Shraddha Chaudhary received her Bachelor of Technology in Electronics and Communication Engineering from Bhartiya Vidyapeeth College of Engineering (BVCOE), GGSIPU, India, in 2007 and Master of Technology in 2012 from Delhi Technological University (formerly DCE). She completed her Ph.D. in 2018 from the Department of Electrical Engineering (Computer Technology) at the Indian Institute of Technology (IIT) Delhi. She worked as a Junior Research Fellow (JRF) at the Programme for Autonomous Robotics (PAR) Laboratory under the project "Vision guided control of a Robotic manipulator" 2010-2016) granted by BARC/BRNS Mumbai during her Ph.D. Her research interests include computer vision, robotics, and machine learning. Currently, she is working as a principal project scientist for NOKIA's outsourced project related to mobile robotics at the IIT Delhi. Dr. Riby Abraham Boby did his Bachelor's from National Institute of Technology (NIT) Karnataka,Master's from Indian Institute of Technology (IIT) Madras and Ph.D. from Indian Institute of Technology (IIT) Delhi. He has been an exchange student at Technical University Munich, Germany and has been involved in academic collaboration with Graduate School of IPS, Waseda University, Japan. His research interests lie in the areas of machine vision, robotics and biometrics. He has been actively involved in research since 2007, and published more than 20 articles in international journals and conferences. He has also been a reviewer for major international conferences and journals in these areas. He is working as Senior Researcher at Innopolis University, Russia from 2019, and is involved in conducting research on calibration of robots using vision systems. Dr. Arun Dayal Udai is a Faculty in the Department of Mechanical Engineering, Indian Institute of Technology (ISM) Dhanbad, India. He has over 13 years of teaching experience in Robotics, Automation, and CAD domains. He completed his Ph.D. in 2016 from the Indian Institute of Technology (IIT) Delhi, India with a specialization in Force Control of Industrial Robots. He pursued his Master's in Mechanical Engineering Design from BIT Mesra, India in 2006 where he worked on Biped Robots. His research interests include robotics, mechatronics, and CAD. He has published in various peer-reviewed journals and conferences. Currently, he is making 6-RSS Parallel Robots - Aruni and Santulan which are useful for academics and research purposes and provides consultancy to various industries in robotics and automation. Prof. Sumantra Dutta Roy is a B.E. (Computer Engineering) from D.I.T., Delhi (1993), and completed his M.Tech. and Ph.D. degrees at the Department of Computer Science and Engineering, Indian Institute of Technology (IIT) Delhi, in 1995 and 2001, respectively

Inhalt

Introduction.- Vision System and Calibration.- Uncertainty and Sensitivity Analysis.- Identication.- Force Control and Assembly.- Integrated Assembly and Performance Evaluation.- Conclusion.- Vision and Uncertainty Analysis.- Robot Jacobian.- Code Snippets and Experimental Videos.