%0 Journal Article
	%A Ahmet Denker and  Tuğrul Adıgüzel
	%D 2007
	%J International Journal of Industrial and Manufacturing Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 12, 2007
	%T Vision Based Robotic Interception in Industrial Manipulation Tasks
	%U https://publications.waset.org/pdf/10747
	%V 12
	%X In this paper, a solution is presented for a robotic
manipulation problem in industrial settings. The problem is sensing
objects on a conveyor belt, identifying the target, planning and
tracking an interception trajectory between end effector and the
target. Such a problem could be formulated as combining object
recognition, tracking and interception. For this purpose, we integrated
a vision system to the manipulation system and employed tracking
algorithms. The control approach is implemented on a real industrial
manipulation setting, which consists of a conveyor belt, objects
moving on it, a robotic manipulator, and a visual sensor above the
conveyor. The trjectory for robotic interception at a rendezvous point
on the conveyor belt is analytically calculated. Test results show that
tracking the raget along this trajectory results in interception and
grabbing of the target object.
	%P 739 - 745