Picking Up moving object from a Belt
Hello, im a newbie here for my thesis, I have a 6DOF Cobot already working well with ROS and Moveit , and i want to pick up objects from a moving belt at normal speed. The Challenge here is there is no way to integrate an encoder to the Cobot to send information to the Cobot. So i need to figure a way out on how to implement this.
Since there is no encoder, the idea is to take snapshots of the object while it is moving and then take the data from the Camera and use it to predict the future rendez vous point where the Cobot will pick up the moving object.
For a start the belt will be moving at normal speed. I will like to ask if there are any suggestions about how to go about this? or better recommendations, Examples, books/information will be gladly appreciated.
There may be a ridiculously simple method of adding an encoder onto the belt if you want. In almost all cases placing an optical mouse at a fixed point on the edge of (or underneath) the belt will allow you to use that to determine its speed very accurately.
Hello, The problem is the connection between the belt and the Cobot. The Cobot does not support this connection! there is no possibility to do this sir. Thanks for your input.