Automatic 3-D Manipulation of Soft Objects by Robotic Arms With an Adaptive Deformation Model


In this paper, we gift a brand new feedback method to automatically servo-control the 3-D shape of sentimental objects with robotic manipulators. The soft object manipulation downside has recently received a great deal of attention from robotics researchers as a result of of its potential applications in, e.g., food industry, home robots, medical robotics, and manufacturing. A serious complication to automatically management the shape of an object is that the estimation of its deformation properties, which determines how the manipulator's motion actively transforms into deformations. Note that these properties are rarely known beforehand, and its offline parametric identification is tough and/or impractical to conduct in many applications. To deal with this issue, we developed a brand new algorithm that computes in real time the unknown deformation parameters of a soft object; this algorithm provides a valuable adaptive behavior to the deformation controller, one thing we tend to cannot achieve with traditional fastened-model approaches. In distinction with most controllers in the literature, our new technique can explicitly servo-management three-D deformations (and not just 2-D image projections) in an entirely model-free approach. To validate the proposed adaptive controller, we gift a close experimental study with robotic manipulators.

Did you like this research project?

To get this research project Guidelines, Training and Code... Click Here

PROJECT TITLE :Smart Trailer : Automatic generation of movie trailer using only subtitles - 2018ABSTRACT:With the large growth rate in user-generated videos, it is changing into increasingly important to be able to navigate them
PROJECT TITLE :New Automatic Modulation Classifier Using Cyclic-Spectrum Graphs With Optimal Training Features - 2018ABSTRACT:A new feature-extraction paradigm for graph-based automatic modulation classification is proposed in
PROJECT TITLE :Automatic Modulation Classification Using Moments and Likelihood Maximization - 2018ABSTRACT:Motivated by the fact that moments of the received signal are easy to compute and can give a simple means to automatically
PROJECT TITLE :Automatic Feature Selection Technique for Next Generation Self-Organizing Networks - 2018ABSTRACT:Despite self-organizing networks (SONs) pursue the automation of management tasks in current cellular networks, the
PROJECT TITLE :Automatic Registration of Images With Inconsistent Content Through Line-Support Region Segmentation and Geometrical Outlier Remova - 2018ABSTRACT:The implementation of automatic image registration is still troublesome

Ready to Complete Your Academic MTech Project Work In Affordable Price ?

Project Enquiry