Picking up a moving object with MoveIt!
I would like to use a robotarm to pick up objects that are moved by a conveyor belt.
The way I would go about this if the object was stationary is using vision to detect the object, then create a 3D file of that object and use that to place the object in the environment of the robotic arm, then with MoveIt! functionality pick up the object.
Is there a (simple) way to expand upon this method to pick up objects from a moving conveyor belt with encoder?
I could calculate where the object would be after a few seconds and time the movements of the robot to line up with that. But that would be very sensitive to errors or changes in the speed of the belt. I would rather make the robotarm somewhat 'smarter' and able to adjust to the movements of the conveyor belt in a somewhat real-time manner.
Any ideas?
Thank you for your help!
