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.
[1] 德特福斯.计算机不能做什么[M].北京:三联书店,1986.
[2] 戴汝为."人机结合"的大成智慧[J].北方工业大学学报,1996,8(3):1-8.
[3] Skubic M,Bailey C,Chronis G.A sketch interface for mobile robots[A].Proceedings of the 2003 IEEE International Conference on Systems,Man and Cybernetics[C].Piscataway,NJ,USA:IEEE,2003.919-924.
[4] Noreils F R.Adding a man-machine interface to an architecture for mobile robots[A].Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems[C].Piscataway,NJ,USA:IEEE,1991.1577-1582.
[5] 王挺,王越超.人机系统在移动机器人平台的应用[J].机器人,2004,26(6):553 -557.
[6] Ceres R,Pons J L,Jimenez,et al.Design and implementation of an aided fruit-harvesting robot (Agribot)[J].Industrial Robot,1998,25(5):337 -346.