Object Isolation with Minimal Impact towards the Object of Interest in a Complex Environment Using Manipulation Primitives
Quah Jit Shen1, Muhammad Fahmi Miskon2, Khalil Azha Mohd Annuar3
1Quah Jit Shen, Center of Excellence Robotics and Automation, Faculty of Electrical Engineering, Universiti Teknikal Malaysia.
2Muhammad Fahmi Miskon, Center of Excellence Robotics and Automation, Faculty of Electrical Engineering, Universiti Teknikal Malaysia.
3Khalil Azha Mohd Annuar, Faculty of Engineering Technology, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, Durian Tunggal, Melaka, Malaysia.
Manuscript received on 18 November 2019 | Revised Manuscript received on 04 December 2019 | Manuscript Published on 10 December 2019 | PP: 219-224 | Volume-8 Issue-3S2 October 2019 | Retrieval Number: C10411083S219/2019©BEIESP | DOI: 10.35940/ijrte.C1041.1083S219
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
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.
Keywords: Trajectory Generation, Environment Manipulation, Object Isolation.
Scope of the Article: Environmental Engineering