OBJECT IDENTIFICATION METHOD FOR INTEGRATION WITH ROBOTIC SYSTEMS
Abstract
The aim of the research is to develop a methodology for identifying and determining the location of objects under conditions of low visibility and potential changes in their shape, with a focus on extracting parts created using selective laser sintering (SLS) from a powder medium. The study examines two fundamentally different approaches to forming control algorithms for a robotic manipulator. The first approach, trust-based, is based on the assumption of minimal displacement of the object during manipulation. The manipulator moves along a trajectory calculated from a preliminary three-dimensional model without correction until the moment of capture. This method is characterized by high operational speed and minimal computational costs. However, it carries risks such as object deformation due to environmental resistance, displacement of the part upon contact with the tool, and the inability to capture the object if it deviates significantly from its nominal position. The second approach, cautious, involves the gradual removal of powder layers to visualize the object and adjust the trajectory before capture. This method includes several stages: removing the top layer of the medium to partially expose the part, analyzing data to refine the object's position, and constructing an adaptive trajectory considering possible displacement. Special attention in the article is given to data generation for training neural networks, which are used for object identification under noisy conditions. Two methods of artificial modeling of powder coatings are considered. The primitive method involves expanding the vertices of a three-dimensional model along their normals with the addition of random noise. The improved method proposes differentiated powder distribution considering local surface curvature. Subsequent experimental results showed that training a neural network using real data has low efficiency. Recognition accuracy ranged from 60% to 75%, which is attributed to the small sample size and the influence of external factors such as lighting and interference. At the same time, the use of synthetic data, prepared according to the methodology presented in the study, increased recognition accuracy to 92%. The practical significance of the work lies in the development of a methodology for searching, detecting, and identifying a part immersed in powder, which can be used to automate postprocessing processes in industries utilizing selective laser sintering. The developed solutions are adapted for integration into robotic systems operating under conditions of limited visibility. The proposed methods can be scaled to a wide range of tasks in additive manufacturing and robotics, making them promising for implementation in industrial processes.
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