Pose-estimation and reorientation of pistons for robotic bin-picking
Su, Jianhua1; Liu, Zhi-Yong2; Qiao, Hong3; Liu, Chuankai4
2016
发表期刊INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL
卷号43期号:1页码:22-32
文章类型Article
摘要Purpose - Picking up pistons in arbitrary poses is an important step on car engine assembly line. The authors usually use vision system to estimate the pose of the pistons and then guide a stable grasp. However, a piston in some poses, e.g. the mouth of the piston faces forward, is hardly to be directly grasped by the gripper. Thus, we need to reorient the piston to achieve a desired pose, i.e. let its mouth face upward, for grasping.
关键词Reorient Ellipse Detection Algorithm Vision-guided Bin-picking
WOS标题词Science & Technology ; Technology
DOI10.1108/IR-06-2015-0129
关键词[WOS]PARTS
收录类别SCI
语种英语
项目资助者National Science and Technology Major Project of China(2014ZX04013011) ; Beijing Natural Science Foundation(4142056) ; National Natural Science Foundation of China(61210009)
WOS研究方向Engineering ; Robotics
WOS类目Engineering, Industrial ; Robotics
WOS记录号WOS:000379679700004
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/12151
专题复杂系统管理与控制国家重点实验室_机器人理论与应用
通讯作者Su, Jianhua
作者单位1.Chinese Acad Sci, Beijing, Peoples R China
2.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
3.Chinese Acad Sci, Inst Automat, Dept State Key Lab Management & Control Complex S, Beijing, Peoples R China
4.Beijing Aerosp Flight Control Ctr, Beijing, Peoples R China
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Su, Jianhua,Liu, Zhi-Yong,Qiao, Hong,et al. Pose-estimation and reorientation of pistons for robotic bin-picking[J]. INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL,2016,43(1):22-32.
APA Su, Jianhua,Liu, Zhi-Yong,Qiao, Hong,&Liu, Chuankai.(2016).Pose-estimation and reorientation of pistons for robotic bin-picking.INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL,43(1),22-32.
MLA Su, Jianhua,et al."Pose-estimation and reorientation of pistons for robotic bin-picking".INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL 43.1(2016):22-32.
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