Object tracking on linear conveyor
Hey everybody,
I encountered an issue with one robotic's subject, I hope that you could help me with it. Let me explain :
Subject :
I work on an UR arm and with a realsense camera attached to the arm. My subject is to pick an object on a linear conveyor.
Insight :
I know the speed of the conveyor by using a wheel encoder. To know the position of the object, I place the arm in an observing position, then when it detects the object, it creates a new TF frame.
I use Reflexxes (an online motion controller) to generate a position and a velocity command. In order to do that, I need to send the position and the velocity of the object and the end effector as the input command of my control loop.
Issue :
I can’t figure out which kind of control loop I need to implement, in which order, and what kind of corrector I need.
I understand some points like :
First, if I do a velocity control loop on the conveyor speed, I will just need to implement a position control loop on my object. But how to cascade them ? And how to send the command to the robot ?
I hope that you could help me. Thank you