CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
The Grasping Point for Planar Workpiece
jingyi zheng; En Li; Zize Liang; 12. Jingyi Zheng, En Li, and Zize Liang
2016
Conference NameIEEE International Conference on Robotics and Biomimetics
Source PublicationIEEE International Conference on Robotics and Biomimetics
Conference Date2016.12
Conference PlaceQiangdao
AbstractThis 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.
KeywordGrasp Point Planar Workpiece Relative Fuzzy Connectedness
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12104
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding Author12. Jingyi Zheng, En Li, and Zize Liang
Recommended Citation
GB/T 7714
jingyi zheng,En Li,Zize Liang,et al. The Grasping Point for Planar Workpiece[C],2016.
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