Motion Planning for Vision-based Stevedoring Tasks on Industrial Robots
Wang, Shijun; Guo, Hao; Cao, Xuewei; Chai, Xiaojie; Wen, Feng; Yuan, Kui
2015-08
会议名称2015 IEEE International Conference on Mechatronics and Automation
会议录名称Proceedings of 2015 IEEE International Conference on Mechatronics and Automation
会议日期August 2-5, 2015
会议地点Beijing, China
摘要This paper proposed an autonomous robot motion planner for industrial robots with a focus on vision-based stevedoring applications. The planning algorithm can be divided into two stages. The first stage generates initial geometric paths in the Cartesian space: with the 3D model of the environment and the picking and placing pose of the robot’s wrist obtained by visual system, the planner finds a collision-free path using workspace cell decomposition. The second stage searches for a time-jerk optimal joints trajectories: the planner transforms the path nodes described in the Cartesian space into joints angels in the joints configuration space, then formulates and solves the optimization problem by means of cubic splines. The simulation experiments show the obvious improvement of our method with a contrast to several state-of-art algorithms in this field. And the grasping experiment verifies the practicability and effectiveness of the method on the basis of the embedded visual system and ABB120 type industrial robot.
关键词Motion Planner Cell Decomposition Industrial Robot Optimization
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/14351
专题智能制造技术与系统研究中心_智能机器人
通讯作者Wang, Shijun
作者单位中国科学院自动化研究所
推荐引用方式
GB/T 7714
Wang, Shijun,Guo, Hao,Cao, Xuewei,et al. Motion Planning for Vision-based Stevedoring Tasks on Industrial Robots[C],2015.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Motion Planning For (506KB)会议论文 开放获取CC BY-NC-SA浏览 下载
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
[Wang, Shijun]的文章
[Guo, Hao]的文章
[Cao, Xuewei]的文章
百度学术
百度学术中相似的文章
[Wang, Shijun]的文章
[Guo, Hao]的文章
[Cao, Xuewei]的文章
必应学术
必应学术中相似的文章
[Wang, Shijun]的文章
[Guo, Hao]的文章
[Cao, Xuewei]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Motion Planning For Vision-based Stevedoring Tasks on Industrial Robots3.pdf
格式: Adobe PDF
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。