Object Isolation With Minimal Impact Towards The Object Of Interest In A Complex Environment Using Manipulation Primitives

Quah, Jit Shen and Miskon, Muhammad Fahmi and Mohd Annuar, Khalil Azha (2019) Object Isolation With Minimal Impact Towards The Object Of Interest In A Complex Environment Using Manipulation Primitives. International Journal Of Recent Technology And Engineering (IJRTE), 8 (3S2). pp. 219-224. ISSN 2277-3878

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Abstract

It is common in the field of robotic manipulation to specifically target and precisely move, displace or manipulate the targeted object of interest. This however may not always be the best possible course of action as there are situations where it is not possible to manipulate the object of interest or is not in a condition to be manipulated. This research paper explores and subsequently proposes 3 object isolation technique for the purpose of isolating a targeted object of interest from the environment incontras to the standard utilization of object singulation technique. The goal was to develop an algorithm than can successfully isolate the object of interest from the environment via removing the environment without/with minimal impact towards the object of interest. Results from the experiment indicated that the proposed algorithms can successfully isolate the object of interest with minimal impact towards the object of interest scoring an average of 0.85cm/actuation for MSMAPPS, 0.75cm/actuation for MSMAPOS and finally 0.27cm/actuation for BSMAPOS. These results indicates a relatively small displacement per actuation at 4.35% displacement per actuation, 3.75% displacement per actuation, and 1.35% displacement per actuation relative to the workspace respectively

Item Type:	Article
Uncontrolled Keywords:	Trajectory Generation, Environment Manipulation, Object Isolation
Divisions:	Faculty of Electrical Engineering
Depositing User:	Norfaradilla Idayu Ab. Ghafar
Date Deposited:	04 Dec 2020 16:13
Last Modified:	04 Dec 2020 16:13
URI:	http://eprints.utem.edu.my/id/eprint/24396
Statistic Details:	View Download Statistic

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