Robotic arm grasping through 3D point clouds recognition

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	Robotic arm grasping through 3D point clouds recognition
	Ji SH(纪苏会)2,3,4; Li WT(李文涛)2,4; Zhang Z(张箴)1,2; Zhou SJ(周士筠)1,2; Cai ZY(蔡志远)3; Tian JD(田建东)2,4
	2021
会议日期	July 15-19, 2021
会议地点	Xining, China
页码	347-352
英文摘要	The combination of 2D cameras and robots usually can no longer meet manufacturing production requirements. With the emergence of cheap 3D cameras, robot research based on 3D vision has become mainstream. In this paper, the Kinect camera is combined with the Fanuc manipulator to build an intelligent robot grasping system. First, we have proposed a new pentagonal positioning method, which can reduce errors in position conversion. Next, we designed our point cloud models for the model-based point clouds matching method. In the pose estimation process, we used a voxel grid to speed up the calculation, established a hash table that stores point pair features, and used Hough voting and pose Clustering to perform point cloud matching and output poses. Finally, we conducted several grasping experiments, and the experimental results met the requirements of grasping accuracy in our system.
源文献作者	IEEE Robotics and Automation Society (RA) ; Shanghai Jiao Tong University ; Shenzhen Institute of Advanced Technology (SIAT)
产权排序	1
会议录	2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-6654-3678-6
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/29680]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Tian JD(田建东)
作者单位	1.University of Chinese Academy of Sciences, Beijing 100049, China 2.Shenyang Institute of Automation, Chinese Academy of Science, State Key Laboratory of Robotics, Shenyang 110016, China 3.School of Electrical Engineering, Shenyang University of Technology, Shenyang 110870, China 4.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	Ji SH,Li WT,Zhang Z,et al. Robotic arm grasping through 3D point clouds recognition[C]. 见:. Xining, China. July 15-19, 2021.