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华南理工大学 自动化科学与工程学院,广州 510641
Received:17 November 2023,
Published:15 March 2025
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占宏,黄杰彬,杨辰光. 基于三维点云的多指机械手抓取应用研究[J]. 机械传动,2025,49(3):141-145.
ZHAN Hong,HUANG Jiebin,YANG Chenguang. Application research of multi-finger robot hand grasping based on three-dimensional point cloud[J]. Journal of Mechanical Transmission,2025,49(3):141-145.
占宏,黄杰彬,杨辰光. 基于三维点云的多指机械手抓取应用研究[J]. 机械传动,2025,49(3):141-145. DOI: 10.16578/j.issn.1004.2539.2025.03.019.
ZHAN Hong,HUANG Jiebin,YANG Chenguang. Application research of multi-finger robot hand grasping based on three-dimensional point cloud[J]. Journal of Mechanical Transmission,2025,49(3):141-145. DOI: 10.16578/j.issn.1004.2539.2025.03.019.
目的
2
在工业制造领域,执行抓取动作是机器人完成复杂作业任务的基础,因此,实现对未知物体的精确感知和准确抓取至关重要。搭建机械手抓取试验平台,提出了一种基于多角度视觉信息的机械手抓取规划方案。
方法
2
首先,采用深度相机从多视角采集未知物体点云图像并进行三维重建,从而获取未知物体位置和形状信息;其次,采用高斯过程拟合未知物体隐式曲面,并基于吸引子运动的机械手动态抓取规划方案,实现对未知物体的特制化抓取。
结果
2
通过试验验证了所提出方案具有速度快、精度高、适应性强等特点,能够适应不同环境和任务需求。所提方案对于机器人相关应用研究具有重要意义。
Objective
2
In the field of industrial manufacturing
the grasping action is the basis for robots to complete complex tasks. Therefore
it is very important to realize accurate perception and grasping of unknown and irregularly shaped objects for robots. A robot grasping experimental platform was built
and a grasping planning method based on multi-angle visual information was proposed.
Methods
2
Firstly
a depth camera was used to collect the point cloud image of the unknown object from multiple views
and it was reconstructed in three dimensions to obtain the position and shape information of the unknown object. Then
the Gaussian process was utilized to fit the hidden surface of the unknown object
and the robot dynamic grasping planning scheme based on the attractor motion was used to realize the customized grasping.
Results
2
The proposed grasping planning scheme was verified by the experiments to have the characteristics of fast speed
high precision and strong adaptability
and can meet the requirements of different environments and tasks
which is of great significance for practical application research related to robotics.
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