Delta Arm Robot Vision System for Pick and Place

asked 2017-07-07 00:38:43 -0600

afln_simba gravatar image

updated 2017-07-07 02:18:16 -0600

I have my vision system node to detect an object and be able to locate its coordinate. This coordinate is then published through geometry_msgs/Twist and subscribed by robot kinematics so that the robot can move to pick it. The problem is my camera is 300mm in front of the robot, so that every time its detect the object the robot moves but the object has not reach there yet. the conveyor speed is known around 3m/s. so I can calculate the time required for the object to reach the robot working area. But if I use delay so that the robot does not move directly, every other next steps will get delayed also thus another detected object could not be pick. Any idea how to solve this problem instead of using delay ? or where should I put the delay if it is the only option ? or could it be possible using tf ROS provided ? Thanks

the code is provided on my github page: https://github.com/TheSpitzer/SGUDelta

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Comments

1

Could you please clarify how this is related to ROS? With almost 35000 questions on this site, we try to stay as on-topic as possible, and your question reads like a more traditional robotics in automation kind. Therefore, I'm inclined to close it.

As to your problem: look into line-tracking.

gvdhoorn gravatar image gvdhoorn  ( 2017-07-07 01:59:00 -0600 )edit

Well, I am building this with ROS the whole system work but the robot move as soon as the data is published and I am trying to use delay but it does not work fine, should I using tf but I have little knowledge about it.

afln_simba gravatar image afln_simba  ( 2017-07-07 02:18:21 -0600 )edit