Research on Grasping Operation Based on Human-Machine Cooperation Techniques in Unstructured Environment
WANG Ting1,2, WANG Yue-chao2
1. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China; 2. Robotics Lab, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
王挺, 王越超. 非结构环境下基于人机合作技术的抓取作业研究[J]. 机器人, 2008, 30(1): 7-12..
WANG Ting, WANG Yue-chao. Research on Grasping Operation Based on Human-Machine Cooperation Techniques in Unstructured Environment. ROBOT, 2008, 30(1): 7-12..
Abstract：This paper provides a method to grasp static objects in unstructured environment with a manipulator guided by human-machine cooperation techniques.With the help of human experiences,a method to get the "grasping position" of object by using "laser-CCD camera" system and a method to get "grasping pose" of object by using virtual reality techniques are introduced respectively.Then,the visual guiding technique based on model is applied to guide the arm to complete the grasping task.
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