The Grasping Point for Planar Workpiece
文献类型：会议论文
| 作者 | jingyi zheng ; En Li; Zize Liang
|
| 出版日期 | 2016 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics |
| 会议日期 | 2016.12 |
| 会议地点 | Qiangdao |
| 关键词 | grasp point planar workpiece relative fuzzy connectedness |
| 通讯作者 | 12. Jingyi Zheng, En Li, and Zize Liang |
| 英文摘要 | This paper describes the conditions that a manipulator grasps the planar workpiece with a negative pressure suction cup. The grasping point must be determined to meet the command of grasping. The first contribution of this paper is initial grasping point by the segmentation of the workpiece under industry condition with the fuzzy edge because of shadow, the weak contrast at boundaries and the complex industry environment. The method of graph cuts and relative fuzzy connectedness are combined to segment the workpiece. The second contribution is the optimal grasping point using point cloud of the workpiece. The point cloud, which is the coordinates of the base for every pixel, is used to segment the largest planar of the workpiece which is feasible for grasping. The optimal grasping point is determined using the point cloud. The experiment results show that the algorithm is effective and feasible in grasping the planar workpiece. |
| 会议录 | IEEE International Conference on Robotics and Biomimetics
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/12104]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 推荐引用方式 GB/T 7714 | jingyi zheng,En Li,Zize Liang. The Grasping Point for Planar Workpiece[C]. 见:IEEE International Conference on Robotics and Biomimetics. Qiangdao. 2016.12. |
入库方式： OAI收割
来源：自动化研究所
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