Visual Servoing based object pick and place manipulation system

被引：0
|
作者：
Li, Chao [1 ]
Cao, Chu-qing [1 ]
Gao, Yun-feng [2 ]
机构：
[1] HIT Wuhu Robot Technol Res Inst, Forward Looking Technol R&D Ctr, Wuhu, Peoples R China
[2] HIT, Dept Mech Engn, Sch Mechatron Engn, Harbin, Peoples R China
来源：
CURRENT TRENDS IN COMPUTER SCIENCE AND MECHANICAL AUTOMATION (CSMA), VOL 2 | 2017年
关键词：
visual servoing; pick and place; structured edge detector; force feedback; eye-in-hand;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
Object pick and place manipulation is essential both in the industrial and service robot field. In this work, we proposed a whole scheme utilizing eye-in-hand visual servoing for object pick and place manipulation system. The proposed paper makes the following three contributions over existing research, 1) a feasible scheme of object pick and place manipulation system is proposed in this work. 2) An efficient structured edge detector is used for contour extraction and object detection. 3) We use the feedback of force sensor to check whether the pick operation is successful.
引用
收藏
页码：334 / 341
页数：8
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