Tracking and Grasping Strategy for Dynamic Targets by Arm-Hand System

A collaborative robot is a type of robot designed to work alongside humans and accomplish tasks in collaboration with them. Executing grasping tasks within unstructured dynamic environments by collaborative robot constitutes a challenge that often requires a combination of visual perception and grasping strategies. This paper proposes a strategy based on iterative comparison method, which is intended to track and grasp dynamic targets with an arm-hand system. Combined with our previous work: real-time object recognition positioning system, the strategy proposed in this paper can track and grasp moving objects. We demonstrate how our arm-hand system - the AUBO i3 robotic arm equipped with the Inspire RH56DFX-2R Hand - could track and grasp different color yogurt bottles. The experiment showing that the average grasping success rate on different objects is 95.6%, validated the effectiveness of the proposed strategy.