Single robotics arm to grip a box

asked 2019-04-03 04:22:45 -0500

Alex Beh gravatar image


I am currently doing a project about pick and place mission which is using a UR5 to grip a box aided with computer vision.

Below is some details about the hardware that I used:

robotics arm : UR5

camera : Realsense D345 (RGB-D camera)

end-effector: Dual finger gripper (enough to pick up the box that we want)

Right now I am able to detect the box with the RGB camera in D345. May I ask how to actually perform the final task? I have searched through the internet and most of them are using dual arm to do this task.

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I am also beginner but know few things, if anything missing, further may be @gvdhoorn can help.

  1. Get 6D POSE(r, t) of the object using image processing(ex. OpenCV).
  2. Hand eye-calibration
  3. use it with Moveit motion planning for pick and place
nd gravatar image nd  ( 2019-04-03 08:55:56 -0500 )edit