Development of a Stereo Vision-based Pick and Place System for Robotic Manipulators

Abstract

Conventional robotic manipulators consist of touch and vision sensors in order to pick and place differently shaped objects. Due to the technology development and degrading sensors over a long period, the stereo vision technique has become a promising alternative. In this study, a low-cost stereo vision-based system, and a gripper to be placed at the end of the robot arm (Fanuc M10iA/12) are developed for position and orientation estimation of robotic manipulators to pick and place different shaped objects. The stereo vision system developed in this research is used to estimate the position (X, Y, Z), orientation (