The Grasping Point for Planar Workpiece

	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	复杂系统认知与决策实验室_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.