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High-precision six-degree-of-freedom pose measurement and grasping system for large-size object based on binocular vision

文献类型：期刊论文

作者Wan, Guoyang3; Li, Fudong2; Zhu, Wenjun1; Wang, Guofeng3
刊名SENSOR REVIEW
出版日期2020-01-13
页码10
关键词Industrial robot Binocular vision Coordinate transformation Hand-eye calibration Pose measurement
ISSN号0260-2288
DOI10.1108/SR-05-2019-0123
通讯作者Wan, Guoyang(704610266@qq.com)
英文摘要Purpose The positioning and grasping of large-size objects have always had problems of low positioning accuracy, slow grasping speed and high application cost compared with ordinary small parts tasks. This paper aims to propose and implement a binocular vision-guided grasping system for large-size object with industrial robot. Design/methodology/approach To guide the industrial robot to grasp the object with high position and pose accuracy, this study measures the pose of the object by extracting and reconstructing three non-collinear feature points on it. To improve the precision and the robustness of the pose measuring, a coarse-to-fine positioning strategy is proposed. First, a coarse but stable feature is chosen to locate the object in the image and provide initial regions for the fine features. Second, three circular holes are chosen to be the fine features whose centers are extracted with a robust ellipse fitting strategy and thus determine the precise pose and position of the object. Findings Experimental results show that the proposed system has achieved high robustness and high positioning accuracy of -1 mm and pose accuracy of -0.5 degree. Originality/value It is a high accuracy method that can be used for industrial robot vision-guided and grasp location.
WOS研究方向Instruments & Instrumentation
语种英语
WOS记录号WOS:000511413600001
出版者EMERALD GROUP PUBLISHING LTD
源URL[http://ir.ia.ac.cn/handle/173211/28580]  
专题精密感知与控制研究中心_精密感知与控制
通讯作者Wan, Guoyang
作者单位1.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
2.Yangzhou Univ, Coll Informat Engn, Yangzhou, Jiangsu, Peoples R China
3.Dalian Maritime Univ, Dept Informat Sci & Technol, Dalian, Peoples R China
推荐引用方式
GB/T 7714		 Wan, Guoyang,Li, Fudong,Zhu, Wenjun,et al. High-precision six-degree-of-freedom pose measurement and grasping system for large-size object based on binocular vision[J]. SENSOR REVIEW,2020:10.
APA Wan, Guoyang,Li, Fudong,Zhu, Wenjun,&Wang, Guofeng.(2020).High-precision six-degree-of-freedom pose measurement and grasping system for large-size object based on binocular vision.SENSOR REVIEW,10.
MLA Wan, Guoyang,et al."High-precision six-degree-of-freedom pose measurement and grasping system for large-size object based on binocular vision".SENSOR REVIEW (2020):10.

入库方式： OAI收割

来源：自动化研究所

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