0
$\begingroup$

I'm working on mobile manipulator and trying to do visual-positioning of the end-effector.

enter image description here

My camera will located around 1-2 meters from the robot. I'm sure i cant use color tracking method because the color of end-effector not unique to the environment and i can't get the orientation of end-effector. If I'm using neural network, the computation cost will high (not reliable for high-speed control). What method of visual-positioning can i use for this case?

$\endgroup$
4
$\begingroup$

So it sounds like you have an external camera system to track the end effector position and orientation?

In that case I would use QR codes or april tags. Stick a couple of these on your end effector, and make sure that you put enough of them that 1 is always visible from your camera. The apriltags library provides the ability to extract position and orientation.

| improve this answer | |
$\endgroup$
  • $\begingroup$ thanks for your suggestion.. i will try using it $\endgroup$ – Albert H M Dec 17 '19 at 13:06

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Not the answer you're looking for? Browse other questions tagged or ask your own question.