The Grasping Point for Planar Workpiece
jingyi zheng; En Li; Zize Liang; 12. Jingyi Zheng, En Li, and Zize Liang
2016
会议名称IEEE International Conference on Robotics and Biomimetics
会议录名称IEEE International Conference on Robotics and Biomimetics
会议日期2016.12
会议地点Qiangdao
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.
关键词Grasp Point Planar Workpiece Relative Fuzzy Connectedness
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/12104
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者12. Jingyi Zheng, En Li, and Zize Liang
推荐引用方式
GB/T 7714
jingyi zheng,En Li,Zize Liang,et al. The Grasping Point for Planar Workpiece[C],2016.
条目包含的文件
条目无相关文件。
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[jingyi zheng]的文章
[En Li]的文章
[Zize Liang]的文章
百度学术
百度学术中相似的文章
[jingyi zheng]的文章
[En Li]的文章
[Zize Liang]的文章
必应学术
必应学术中相似的文章
[jingyi zheng]的文章
[En Li]的文章
[Zize Liang]的文章
相关权益政策
暂无数据
收藏/分享
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。