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采矿中基于图像爪取的策略
Abstrac摘要
In industry application, e.g, mineral sorting, various mineral should be picked from the conveyer. The problem can be regarded as grasping prior unknown objects. In this paper, we aim to present a method to grasp the objects with a three-finger gripper guided by vision. Based on our previous works on attractive region, the way to locate a stable grasp is illustrated in the rotation space of the object. More specifically, the down-hill direction of the attractive region is used to guide the motion of the camera. And then, a grasp planar is proposed to generate hypothetic grasps from the contour of object. The vision and the grasping detection are coupled to reconstruct only few points for contacting, such that, the method can be conducted effectively. At last, the efficiency of the method is illustrated by a simulation.
Index Terms—three-finger grasp, Vision-guided grasp, inscribed equilateral triangle
在工业应用中，例如矿物分选，各种矿物要从传送带分离出来，这个问题可以被视为掌握事先未知的对象。本文我们提出一个方法，通过视觉引导用三爪机去抓捕对象。基于之前我们对吸引区域的研究，如何定位一次稳定的抓取也在目标物体旋转空间上做了说明。具体来说，是利用目标区域的下坡方向来指引摄像机的移动，这样我们就可以利用目标物体的轮廓提出一个抓取曲面去模拟抓取过程。只有将视觉和抓取方向结合，并对目标物体上的少数点整合，这种方法才可以有效的进行。最后，这种方法的有效性我们会通过仿真来加以说明。
关键词—三爪机，视觉引导抓取，内接等边三角形
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发表于 2013-11-3 13:41:34
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发表于 2013-11-3 14:21:37
