Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/70354
Full metadata record
DC FieldValueLanguage
dc.contributor.authorKhoo, Jie Xiong
dc.date.accessioned2017-04-21T01:26:32Z
dc.date.available2017-04-21T01:26:32Z
dc.date.issued2017
dc.identifier.urihttp://hdl.handle.net/10356/70354
dc.description.abstractThe demand for robotic automation has grown past simple and repetitive tasks. Its applications are now pushing past simple repetitive tasks such as in mass manufacturing to more complexed tasks with higher variability. This project attempts to address the need for robotic automation applied to the warehousing and electronic commerce industry. The aim of this project is to autonomously pick and stow items according to the Amazon Picking Challenge (APC) 2017 rules by configuring a Universal Robot 5 (UR5) robotic arm. This project is split into 4 segments. This report covers only the grasping segment (Grasping Module) of the project, which aims to determine the best possible strategy to prehend the target item and return the position and orientation of the end-effector (e-e) to the System Manager. The Grasping Module should also cater to the other grasping related requirements of the project as specified in the APC 2017 rules. The Grasping Module was written in Python 2.7, from the overall framework to the functions which handle the algebraic manipulations, entirely from scratch. Physical grasp testing and data collection was also conducted to determine the best possible grasping strategy to use for each item.en_US
dc.format.extent75 p.en_US
dc.language.isoenen_US
dc.rightsNanyang Technological University
dc.subjectDRNTU::Engineering::Industrial engineering::Automationen_US
dc.titleGrasping module of autonomous item picking robotic armen_US
dc.typeFinal Year Project (FYP)en_US
dc.contributor.supervisorChen I-Mingen_US
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen_US
dc.description.degreeBachelor of Engineering (Mechanical Engineering)en_US
dc.contributor.researchRobotics Research Centreen_US
dc.contributor.supervisor2Albert Jacinto Causoen_US
item.fulltextWith Fulltext-
item.grantfulltextrestricted-
Appears in Collections:MAE Student Reports (FYP/IA/PA/PI)
Files in This Item:
File Description SizeFormat 
FYP Final Report - Khoo Jie Xiong.pdf
  Restricted Access
Final Year Report2.57 MBAdobe PDFView/Open

Google ScholarTM

Check

Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.