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 based on fuzzy connectedness prior knowledge
Jingyi Zheng; Li, En; Liang, Zize
2016-12
Conference NameInternational Conference on Robotics and Biomimetics 2016
Source PublicationIEEE Robio2016
Conference Date3-7 Dec. 2016
Conference Place中国青岛
Abstract
This paper describes the problem that a
manipulator grasps the planar workpiece with a negative
pressure suction cup. The grasping point must be determined to
meet the command of planar grasping criterion to lay the
foundation of the workpiece placement. The first contribution of
this paper is the segmentation of the workpiece under industry
condition with illumination and occlusion in the background.
The method of iterative graph cuts and relative fuzzy
connectedness are combined to segment the workpiece. The
second contribution is the computation of the optimal grasping
point using point cloud of the workpiece. The point cloud coming
from the feature points, which are extracted from the structured
light stripes according to the range of the image segmentation
and transformed to the coordinates of the base, is used to
segment the largest plane of the workpiece which is feasible for
grasping. The normal vector of the planar workpiece are also
determined. The experiment results show that the algorithm is
effective and feasible in grasping the planar workpiece.
KeywordGrasping Point Planar Workpiece Prior Knowledge
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13006
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorJingyi Zheng
Affiliation中国科学院自动化研究所
Recommended Citation
GB/T 7714
Jingyi Zheng,Li, En,Liang, Zize. The grasping point for planar workpiece based on fuzzy connectedness prior knowledge[C],2016.
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