基于多传感器融合的抓取控制研究Research on grasping control based on multi-sensor fusion
文献类型：期刊论文
| 作者 | 谭建豪; 宋彩霞; 张俊; 胡颖 |
| 刊名 | 湖南大学学报Journal of Hunan University(Natural Sciences),
 |
| 出版日期 | 2012 |
| 英文摘要 | The location precision by binocular camera sensitive to environment is not high,thus the grasping success rate and robustness are not sound in the existing grasping system.And in order to overcome this problem,this paper proposed a method of fusing vision of infrared sensors,tactile sensors and encoders,which can realize a reliable,robust system capable of adjusting grip force automatically.In order to avoid the situation of grasping-nothing,binocular camera coupled with monocular camera and infrared sensors were used to locate precisely.By integrating tactile sensors and encoders,and adding monitoring force and position information in the process of grasping,the phenomena of broken and slippage of the object were reduced to a great extent.The experiments demonstrate that the grasping success rate and the system performance are greatly improved by fusing multi-sensor data compared with signal sensor. |
| 收录类别 | EI |
| 原文出处 | http://en.cnki.com.cn/Article_en/CJFDTOTAL-HNDX201212010.htm |
| 语种 | 中文 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/3743]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 湖南大学学报Journal of Hunan University(Natural Sciences), |
| 推荐引用方式 GB/T 7714 | 谭建豪,宋彩霞,张俊,等. 基于多传感器融合的抓取控制研究Research on grasping control based on multi-sensor fusion[J]. 湖南大学学报Journal of Hunan University(Natural Sciences),,2012. |
| APA | 谭建豪,宋彩霞,张俊,&胡颖.(2012).基于多传感器融合的抓取控制研究Research on grasping control based on multi-sensor fusion.湖南大学学报Journal of Hunan University(Natural Sciences),. |
| MLA | 谭建豪,et al."基于多传感器融合的抓取控制研究Research on grasping control based on multi-sensor fusion".湖南大学学报Journal of Hunan University(Natural Sciences), (2012). |
入库方式： OAI收割
来源：深圳先进技术研究院
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