The grasping point for planar workpiece based on fuzzy connectedness prior knowledge
文献类型：会议论文
| 作者 | Jingyi Zheng ; Li, En; Liang, Zize
|
| 出版日期 | 2016-12 |
| 会议名称 | International Conference on Robotics and Biomimetics 2016 |
| 会议日期 | 3-7 Dec. 2016 |
| 会议地点 | 中国青岛 |
| 关键词 | grasping point, planar workpiece, prior knowledge |
| 通讯作者 | Jingyi Zheng |
| 英文摘要 |
This paper describes the problem that a
manipulator grasps the planar workpiece with a negative
pressure suction cup. The grasping point must be determined to
meet the command of planar grasping criterion to lay the
foundation of the workpiece placement. The first contribution of
this paper is the segmentation of the workpiece under industry
condition with illumination and occlusion in the background.
The method of iterative graph cuts and relative fuzzy
connectedness are combined to segment the workpiece. The
second contribution is the computation of the optimal grasping
point using point cloud of the workpiece. The point cloud coming
from the feature points, which are extracted from the structured
light stripes according to the range of the image segmentation
and transformed to the coordinates of the base, is used to
segment the largest plane of the workpiece which is feasible for
grasping. The normal vector of the planar workpiece are also
determined. The experiment results show that the algorithm is
effective and feasible in grasping the planar workpiece. |
| 会议录 | IEEE Robio2016
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13006]  |
| 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 |
| 作者单位 | 中国科学院自动化研究所 |
| 推荐引用方式 GB/T 7714 | Jingyi Zheng,Li, En,Liang, Zize. The grasping point for planar workpiece based on fuzzy connectedness prior knowledge[C]. 见:International Conference on Robotics and Biomimetics 2016. 中国青岛. 3-7 Dec. 2016. |
入库方式： OAI收割
来源：自动化研究所
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