Motion Planning for Vision-based Stevedoring Tasks on Industrial Robots
文献类型：会议论文
| 作者 | Wang, Shijun ; Guo, Hao; Cao, Xuewei; Chai, Xiaojie; Wen, Feng; Yuan, Kui
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| 出版日期 | 2015-08 |
| 会议日期 | August 2-5, 2015 |
| 会议地点 | Beijing, China |
| 关键词 | Motion Planner Cell Decomposition Industrial Robot Optimization |
| 英文摘要 | This paper proposed an autonomous robot motion planner for industrial robots with a focus on vision-based stevedoring applications. The planning algorithm can be divided into two stages. The first stage generates initial geometric paths in the Cartesian space: with the 3D model of the environment and the picking and placing pose of the robot’s wrist obtained by visual system, the planner finds a collision-free path using workspace cell decomposition. The second stage searches for a time-jerk optimal joints trajectories: the planner transforms the path nodes described in the Cartesian space into joints angels in the joints configuration space, then formulates and solves the optimization problem by means of cubic splines. The simulation experiments show the obvious improvement of our method with a contrast to several state-of-art algorithms in this field. And the grasping experiment verifies the practicability and effectiveness of the method on the basis of the embedded visual system and ABB120 type industrial robot. |
| 会议录 | Proceedings of 2015 IEEE International Conference on Mechatronics and Automation
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| 源URL | [http://ir.ia.ac.cn/handle/173211/14351]  |
| 专题 | 自动化研究所_智能制造技术与系统研究中心_智能机器人团队 |
| 通讯作者 | Wang, Shijun |
| 作者单位 | 中国科学院自动化研究所 |
| 推荐引用方式 GB/T 7714 | Wang, Shijun,Guo, Hao,Cao, Xuewei,et al. Motion Planning for Vision-based Stevedoring Tasks on Industrial Robots[C]. 见:. Beijing, China. August 2-5, 2015. |
入库方式： OAI收割
来源：自动化研究所
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