Analysis of Scene Perception for Human Robot Collaboration in Convolution Neural Network Environments

Abdulkadir Hamidu Alkali, Muhammad Zaharadeen Ahmed, Abubakar Umar, Mohammed Kabir Dauda, Fatima Shitu, Abdulsalam Ya'u Gital

Abstract


In this paper, analysis of robot visual reasoning (for pick and place) is conducted. This refers to reasoning the latent meaning of visual signals or indication for future robot actions from visual observations of an HRC scene. In this paper, projection matrix estimation is computed using 2D points to represent the figure plane and 3D points to represent scene detection for initiate pick and place operation. During simulation, equations are represented using matrix format based on figure coordinates. The design also implements automatic calibration and accuracy for robot workspace. In addition, vision-based management for the robot end effector is also conducted based on horizontal targets, and upright targets. However, pick and place is articulated in the experiment without visual control. In our results, analysis of joint tangential forces is computed for the three joints, Alink1, Blink2, and Clink3. The outcome of axial force variation of the three joints is conducted in their state of mobility. Finally, result of torque acting on the three joints increase when the simulation time is increased to achieve optimum performance.


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References


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