期刊名称：International Journal of Innovative Research in Computer and Communication Engineering
印刷版ISSN：2320-9798
电子版ISSN：2320-9801
出版年度：2017
卷号：5
期号：6
页码：11960
DOI：10.15680/IJIRCCE.2017.0506181
出版社：S&S Publications
摘要：The aim of seminar is to automate sorting / replenishing items in a hospital using a robot. A uniquerobotic manipulation system that accurately singulates surgical instruments in a cluttered environment. A novel singleview computer vision algorithm identifies the next instrument to grip from a cluttered pile and a compliantelectromagnetic gripper picks up the identified instrument. System is validated through extensive experiments. Therobot takes user input through serial link about which specific object to be picked up. The source and destinationlocations are already available in the library of the robot. The robot then autonomously performs the assigned taskwherein the robot navigates to the location of the source of the item, identifies the object, picks it up and finallydelivers it at the destination location. The navigation is implemented using sensors to find out the distances moved anddirection of movement. Object identification has been implemented using image processing techniques. The systemalso has obstacle avoidance mechanism implemented by use of ultra sonic sensors.
